每日简报

2026-05-26

← 历史归档

Lum1104/Understand-Anything

TypeScript · ★ 32,223 · 🍴 2,636 · 📈 5,604 stars today

Graphs that teach > graphs that impress. Turn any code into an interactive knowledge graph you can explore, search, and ask questions about. Works with Claude Code, Codex, Cursor, Copilot, Gemini CLI, and more.

中文介绍 该工具将任意代码库转化为交互式知识图谱,支持探索、搜索与问答。通过连接 Claude Code、Codex、Cursor 等主流 AI 编码助手,帮助开发者快速理解陌生项目架构与逻辑,解决代码库认知负担过重的问题。

anthropics/knowledge-work-plugins

Python · ★ 15,852 · 🍴 1,894 · 📈 1,441 stars today

Open source repository of plugins primarily intended for knowledge workers to use in Claude Cowork

中文介绍 Anthropic 官方开源的插件集合,主要面向知识工作者,旨在增强 Claude Cowork 协作工具的功能。用户可通过这些插件扩展工作流,提升文档处理、数据分析等任务效率。

rohitg00/ai-engineering-from-scratch

Python · ★ 19,185 · 🍴 3,223 · 📈 3,154 stars today

Learn it. Build it. Ship it for others.

中文介绍 一套从零开始的 AI 工程实践课程,遵循“学习、构建、部署”路径。内容涵盖构建和部署可应用于实际场景的 AI 系统,适合希望获得端到端项目经验的学习者和工程师。

affaan-m/ECC

JavaScript · ★ 192,858 · 🍴 29,822 · 📈 2,025 stars today

The agent harness performance optimization system. Skills, instincts, memory, security, and research-first development for Claude Code, Codex, Opencode, Cursor and beyond.

中文介绍 一个 Agent 框架性能优化系统,集成了技能、直觉、记忆、安全等模块,并强调研究优先开发。专为 Claude Code、Codex、Cursor 等 AI 编码助手设计,用于构建更高效、安全的自动化代理。

mukul975/Anthropic-Cybersecurity-Skills

Python · ★ 9,450 · 🍴 1,146 · 📈 1,004 stars today

754 structured cybersecurity skills for AI agents · Mapped to 5 frameworks: MITRE ATT&CK, NIST CSF 2.0, MITRE ATLAS, D3FEND & NIST AI RMF · agentskills.io standard · Works with Claude Code, GitHub Copilot, Codex CLI, Cursor, Gemini CLI & 20+ platforms · 26 security domains · Apache 2.0

中文介绍 一个包含 754 项结构化网络安全技能的集合,这些技能映射到 MITRE ATT&CK 等五大安全框架,并遵循 agentskills.io 标准。主要用于增强 AI 代理在 Claude Code、GitHub Copilot 等工具中的安全分析能力。

colbymchenry/codegraph

TypeScript · ★ 25,901 · 🍴 1,438 · 📈 3,161 stars today

Pre-indexed code knowledge graph for Claude Code, Codex, Cursor, OpenCode, and Hermes Agent — fewer tokens, fewer tool calls, 100% local

中文介绍 为 Claude Code、Codex 等 AI 编码助手提供的预索引代码知识图谱。它通过减少 Token 消耗和工具调用来提升效率,并支持 100% 本地运行,适用于需要快速理解代码库的开发场景。

manaflow-ai/cmux

Swift · ★ 19,600 · 🍴 1,479 · 📈 603 stars today

Ghostty-based macOS terminal with vertical tabs and notifications for AI coding agents

中文介绍 一款基于 Ghostty 的 macOS 终端应用,具有垂直标签页和通知功能。它专为运行 AI 编码代理(如 Claude Code)设计,优化了代理的输出展示与任务管理体验。

multica-ai/andrej-karpathy-skills

★ 155,513 · 🍴 15,947 · 📈 2,749 stars today

A single CLAUDE.md file to improve Claude Code behavior, derived from Andrej Karpathy's observations on LLM coding pitfalls.

中文介绍 一个源自 Andrej Karpathy 对 LLM 编码陷阱观察的 CLAUDE.md 技能文件。将其集成到 Claude Code 设置中,可引导模型避免常见错误,生成更符合预期的代码与回答。

Fincept-Corporation/FinceptTerminal

Python · ★ 23,982 · 🍴 3,293 · 📈 317 stars today

FinceptTerminal is a modern finance application offering advanced market analytics, investment research, and economic data tools, designed for interactive exploration and data-driven decision-making in a user-friendly environment.

中文介绍 一款现代化的金融终端应用,提供高级市场分析、投资研究和经济数据工具。它支持交互式探索与数据驱动的决策,主要面向金融分析师、投资者和研究人员。

paperless-ngx/paperless-ngx

Python · ★ 41,425 · 🍴 2,749 · 📈 176 stars today

A community-supported supercharged document management system: scan, index and archive all your documents

中文介绍 一个社区驱动的增强型文档管理系统,支持扫描、索引和归档各类文档。通过 OCR 技术将纸质文件数字化并建立全文搜索,适合家庭或小型团队进行无纸化档案管理。

anthropics/claude-cookbooks

Jupyter Notebook · ★ 44,133 · 🍴 5,056 · 📈 141 stars today

A collection of notebooks/recipes showcasing some fun and effective ways of using Claude.

中文介绍 Anthropic 官方提供的 Claude 使用示例与教程集合(notebooks/recipes)。展示了如何以有趣且高效的方式使用 Claude,为开发者和用户探索模型能力提供了实用参考。

Leonxlnx/taste-skill

Shell · ★ 20,051 · 🍴 1,665 · 📈 264 stars today

Taste-Skill - gives your AI good taste. stops the AI from generating boring, generic slop

中文介绍 一个旨在提升 AI 生成内容“品味”的技能文件(Taste-Skill)。它通过特定指令约束,防止模型生成枯燥、通用或套路化的文本,帮助产出更精致、有创意的成果。

moeru-ai/airi

TypeScript · ★ 39,855 · 🍴 4,024 · 📈 62 stars today

💖🧸 Self hosted, you-owned Grok Companion, a container of souls of waifu, cyber livings to bring them into our worlds, wishing to achieve Neuro-sama's altitude. Capable of realtime voice chat, Minecraft, Factorio playing. Web / macOS / Windows supported.

中文介绍 一个可自托管的 AI 伴侣项目,目标是创造如《赛博朋克》中的灵魂容器。它支持实时语音聊天和 Minecraft 游戏交互,致力于实现类似 Neuro-sama 的高度自主与交互能力。

shiyu-coder/Kronos

Python · ★ 26,112 · 🍴 4,533 · 📈 245 stars today

Kronos: A Foundation Model for the Language of Financial Markets

中文介绍 一个名为 Kronos 的基础模型,专注于学习“金融市场语言”。它旨在理解和预测金融时间序列数据,为量化交易和市场分析提供模型支持。

Axorax/awesome-free-apps

JavaScript · ★ 4,693 · 🍴 240 · 📈 192 stars today

Curated list of the best free apps for PC and mobile

中文介绍 一份精心策划的最佳免费应用程序列表,涵盖 PC 和移动端。它为用户推荐各类高质量、无收费的软件工具,方便快速发现和选用所需应用。

hardikpandya/stop-slop

★ 4,548 · 🍴 389 · 📈 345 stars today

A skill file for removing AI tells from prose

中文介绍 一个用于去除 AI 生成文本中“机器味”的技能文件(skill file)。它通过指令调整,使生成的 prose(散文、文章)更自然,减少格式化和重复的套话。

garrytan/gstack

TypeScript · ★ 102,707 · 🍴 15,317 · 📈 640 stars today

Use Garry Tan's exact Claude Code setup: 23 opinionated tools that serve as CEO, Designer, Eng Manager, Release Manager, Doc Engineer, and QA

中文介绍 提供 Garry Tan 使用的 Claude Code 完整配置,包含 23 个定制工具。这些工具模拟了 CEO、设计师、工程经理等多个角色,形成一个综合性的 AI 辅助开发工具集。

How to Build Your First Team of AI Agents Using Claude (Full Course)

@eng_khairallah1 · 58.6K 粉丝 · 1.8M 阅 · 827 赞 · 115 转

Everyone is talking about AI agents. Save this :) Build an agent. Deploy an agent. Agent this. Agent that. But when you actually sit down to build one, you hit a wall. The tutorials assume you already

中文介绍 分享一份使用 Claude 构建首个 AI 代理团队的系统性完整课程。内容针对现有教程往往跳过实操难点的问题,旨在帮助学习者跨越从理论到动手搭建的门槛。

How to Build a Software Factory with Claude Code That Ships Features While You Sleep

@sairahul1 · 106.0K 粉丝 · 1.3M 阅 · 665 赞 · 76 转

I thought I was using AI to code. I was actually just typing faster. Here is the difference — and the 7-agent system that changed everything. Save this. It will save you months. THE PROBLEM NOBODY

中文介绍 分享一个利用 Claude Code 构建的 7-agent 协作系统,目标是实现软件功能在睡眠时自动交付。博主对比了「AI 编程」与「快速打字」的本质区别,强调了多代理协作工作流的价值。

AI Agents: The Complete Course

@sairahul1 · 106.0K 粉丝 · 203.2K 阅 · 500 赞 · 82 转

Everyone is talking about AI agents in 2026. Most people have no idea how they actually work. This changes today. I spent weeks distilling everything: courses, books, real builds, production failures.

中文介绍 分享一套关于 AI 代理的综合性学习资源,内容融合了课程、书籍知识、实战构建经验及生产环境失败案例。旨在为 2026 年仍对代理原理感到困惑的人提供一站式指南。

How to Build a Claude Research Agent That Reads the Internet Every Morning and Briefs You in 5 Mins

@cyrilXBT · 179.9K 粉丝 · 127.8K 阅 · 533 赞 · 80 转

Most people start their day the same way. They open Twitter and spend 20 minutes scrolling through noise looking for the three things that actually matter. They open their email and get pulled into

中文介绍 分享如何用 Claude 构建一个研究代理,每天早晨自动阅读互联网信息,并在 5 分钟内生成个人简报。核心价值在于帮助用户从繁杂的信息流中解脱,快速获取关键内容。

How I Use Cursor

@poteto · 26.6K 粉丝 · 86.5K 阅 · 540 赞 · 48 转

I need to get something off my chest. Before my interview @cursor_ai, I had never actually used Cursor. At Meta, Claude Code was explosively taking off. I even paid for a personal $200 a month plan

中文介绍 博主分享个人在面试 Cursor 公司前后的使用体验。对比了在 Meta 时流行的 Claude Code 与 Cursor 的实际用法,并支付每月 200 美元个人计划,旨在分享对 AI 编码工具的真实看法与建议。

Step-By-Step LLM Engineering Projects (2026 Edition)

@TheAhmadOsman · 59.9K 粉丝 · 54.5K 阅 · 512 赞 · 65 转

At some point, reading about LLMs stops being enough. You need to build the stack yourself: Tokenizer first, then embeddings, position, attention, Transformer blocks, objectives, decoding, cache, long

中文介绍 提供 2026 年版的 LLM 工程实践项目指南。强调仅阅读理论已不足够,需要动手从底层开始构建完整技术栈,包括分词器、嵌入、Transformer 块等核心组件。

Physical AI, Korea and Autoparts companies

@hansolar21 · 30.1K 粉丝 · 50.8K 阅 · 500 赞 · 82 转

tldr: Korea is already being repriced as an AI memory market. But I think the next leg could be Physical AI: robots, actuators, reducers, and the boring precision-machining companies sitting

中文介绍 分析韩国作为 AI 内存市场被重新定价的趋势,并预测下一阶段投资焦点将是「物理 AI」领域,如机器人、执行器、减速器以及相关的精密制造零部件公司。

The Hermes Agent Memory Guidebook

@KSimback · 17.1K 粉丝 · 40.0K 阅 · 508 赞 · 69 转

TLDR: this is your definitive guide to all things related to memory systems for Hermes Agent. Why create this? Because every week I see new posts or articles describing some new memory tool for Hermes

中文介绍 发布关于 Hermes Agent 记忆系统的权威指南。博主旨在整合每周涌现的各类记忆工具信息,为使用者提供一份清晰、全面的参考,解决信息过载和概念混淆的问题。

THE DIFF THAT CHANGED EVERYTHING

@difflawb · 20.3K 粉丝 · 21.9K 阅 · 1.1K 赞 · 389 转

How a 40-line shell script became infrastructure In August 2024, Andrej Karpathy — co-founder of OpenAI, former AI Director at Tesla — published something unexpectedly small. Not a paper. Not a model.

中文介绍 介绍一个由 40 行 shell 脚本发展成为关键基础设施的项目。该故事关联了 OpenAI 联合创始人 Andrej Karpathy 于 2024 年 8 月发布的一个小型但影响深远的开源工具。

how i make AI videos (a beginner’s breakdown)

@0xileri · 7.3K 粉丝 · 12.2K 阅 · 533 赞 · 63 转

I’ve been getting a lot of DMs since I started posting AI videos, so I figured I’d just write it all out. Fair warning: I’m still learning too. This is just what’s been working for me. tools

中文介绍 面向初学者的 AI 视频制作经验分享。博主根据收到的大量提问,整理了自己仍在学习中但行之有效的工具选择与制作流程,内容务实,侧重入门实践。

The Start of the End: AI Replacement Has Begun

@ActionModelAI · 57.1K 粉丝 · 5.8K 阅 · 505 赞 · 344 转

We are witnessing the beginning of the biggest economic shift in modern history. And most people still don’t realize it. AI replacement is no longer some distant sci-fi prediction. It has started.

中文介绍 对 AI 替代人类工作的经济趋势进行宏观分析,指出这已不是远期预测,而是正在发生的现实。内容涉及对现代史上最大经济转变的观察,属于趋势预警与影响评估。

OpenAI, Grupo Folha and Grupo UOL announce strategic content partnership

OpenAI partners with Grupo Folha and Grupo UOL to bring trusted Brazilian journalism to ChatGPT, expanding access to news with attribution and transparency.

中文介绍 OpenAI宣布与巴西媒体集团Grupo Folha和Grupo UOL建立战略内容合作,旨在将可信的巴西新闻引入ChatGPT,提升新闻访问的透明度与来源可追溯性。

[AINews] All Model Labs are now Agent Labs

a quiet day lets us tie together a few quotes as all model labs become agent labs

中文介绍 Latent Space观察到,所有AI模型实验室正积极向智能体实验室转型,这一趋势成为行业新常态。

Google I/O showed how the path for AI-driven science is shifting

During Tuesday’s Google I/O keynote, Demis Hassabis, the CEO of Google DeepMind, proclaimed that we are currently “standing in the foothills of the singularity.” It was a striking statement—the singularity is the theoretical future moment when AI rapidly exceeds human intelligence and dramatically t

中文介绍 Google DeepMind首席执行官Demis Hassabis在I/O大会上宣称人类正站在“奇点”的起点,标志着AI驱动的科学路径正在发生转变。

How Virgin Atlantic ships faster with Codex

How Virgin Atlantic used Codex to ship its revamped mobile app on a fixed holiday travel deadline, reaching near-total unit test coverage and zero P1 defects.

中文介绍 英国维珍航空利用OpenAI的Codex工具,在既定截止日期前成功发布其移动应用更新,实现了近乎100%的单元测试覆盖率且零P1级缺陷。

OpenAI named a Leader in enterprise coding agents by Gartner

OpenAI is named a leader in the 2026 Gartner Magic Quadrant for Enterprise AI Coding Agents, with Codex recognized for innovation and enterprise-scale deployment.

中文介绍 OpenAI在Gartner 2026年企业AI编码代理魔力象限中被评为领导者,其Codex产品因创新和规模化企业部署获得认可。

Roundtables: Can AI Learn to Understand the World?

Listen to the session or watch below AI companies want to build systems that understand the external world and overcome the limitations of LLMs. Recent developments have brought world models to the forefront of the AI discussion. Watch a conversation with editor in chief Mat Honan, senior AI editor

中文介绍 《麻省理工科技评论》举办圆桌讨论,探讨AI是否能够学会理解外部世界,以克服当前大语言模型的局限性。

Giving Agents Computers — Ivan Burazin, Daytona

We chat with Daytona's CEO about their insane 74% MoM Growth, 850K Daily Runs, Bare Metal Sandboxes, RL Evals, and the New Agent Cloud

中文介绍 Daytona首席执行官透露,公司业务月度增长率高达74%,每日运行次数达85万次,其裸金属沙箱和智能体云服务备受关注。

Scaling creativity in the age of AI

Storytelling is core to humanity’s DNA, stemming from our impulse to express ideals, warnings, hopes, and experiences. Technology has always been woven through the medium and the distribution: from early humans’ innovation of natural pigments and charcoals for cave paintings to literal representatio

中文介绍 文章探讨在AI时代,如何规模化地激发与引导人类与生俱来的创造力与叙事本能,技术始终是其中的关键媒介。

Shielded but Lightweight: Building Practical Confidential Containers with ARM CCA

第一作者: Liantao Song · 方向: 软件安全

Abstract:The rapid advancement of cloud-native technologies has created an urgent need for security. Currently, confidential containers are increasingly deployed in multi-tenant environments. Existing confidential container designs mainly adopt a microVM-based architecture. Although this approach improves inter-container isolation, its complex software stack leads to high startup latency and significant resource overhead, making it unsuitable for short-lived container workloads. In this paper, we propose Fasco, a lightweight confidential container runtime based on the ARM Confidential Compute Architecture (CCA). Fasco directly instantiates each container as an independent Container Realm, leveraging CCA's hardware-enforced isolation to ensure the confidentiality and integrity of application data inside the container. In addition, Fasco introduces a dedicated System Realm to provide...

论文介绍 该研究针对现有基于微VM的保密容器方案启动慢、资源开销大的问题,提出了Fasco,一种基于ARM机密计算架构的轻量级保密容器运行时。其核心方法是利用CCA的硬件隔离能力,将每个容器直接实例化为一个独立的Container Realm,并通过专用的System Realm提供管理支持,从而确保容器内数据的机密性与完整性,同时显著降低了开销。

Building an Adversarial Malware Dataset by Family and Type: Generation, Evasion, and Poisoning Evaluation

第一作者: David Košťál · 方向: 软件安全

Abstract:We present a dataset of adversarial malware samples derived from the public RawMal-TF collection of real-world malware binaries. Using a suite of adversarial malware generators, we construct two sets of adversarial PE files: 44,347 family-labelled samples and 33,596 type-labelled samples, achieving evasion rates of 98.35 % and 92.20 % against the EMBER classifier, respectively. Each adversarial binary is accompanied by detailed metadata, including EMBER scores and VirusTotal classifications. We further demonstrate the susceptibility of malware classification pipelines to data poisoning attacks through a series of training experiments. Injecting fully mislabelled adversarial samples representing only 0.5 % of the training data in the family-labelled dataset increases the evasion rate against the re-trained classifier from 26.1 % to 92.8 %. The dataset is publicly released to...

论文介绍 为评估恶意软件分类器的鲁棒性,本文构建了一个来自真实恶意软件二进制文件的对抗性样本数据集。作者使用一系列对抗性恶意软件生成器,构建了按家族和类型标注的样本集,这些样本对EMBER分类器实现了极高的逃避率。此外,研究展示了数据投毒攻击的有效性,并将该数据集公开,以促进安全领域的研究。

Semantic Validation of Packer Identification Tools: Characterization, Repair, and Downstream Impact

第一作者: Fangtian Zhong · 方向: 软件安全

Abstract:Packer identification tools are a critical foundation of malware analysis, directly affecting unpacking, behavioral analysis, malware classification, and threat attribution. However, their semantic correctness is rarely validated. In practice, a tool may return a plausible packer label that is nevertheless semantically wrong, leading to failed unpacking and unreliable downstream analysis. This paper presents a semantic validation framework for testing and repairing packer identification tools. Our key idea is to use unpackers as executable semantic contracts. If a tool predicts a packer family, the corresponding unpacker should recover analyzable program content. This enables automatic test oracles without requiring manually labeled ground truth. Building on this idea, we develop a systematic pipeline for detecting, localizing, and repairing semantic faults in existing packer...

论文介绍 加壳器识别工具是恶意软件分析的基础,但其语义正确性常被忽视,可能导致解包失败和下游分析不可靠。本文提出了一个语义验证框架,其核心思想是将解包器作为可执行的语义契约。如果识别工具预测了某个加壳家族,那么对应的解包器应能恢复出可分析的程序内容。基于此,作者开发了一套流程来自动检测、定位并修复现有工具中的语义错误。

Capability and Robustness Cannot Both Be Free: An Information-Theoretic Bound for Vision-Language-Action Models

第一作者: Jianwei Tai · 方向: AI 安全

Abstract:Vision-Language-Action (VLA) models are increasingly deployed on real robots, where each predicted action is executed and each failure carries a safety cost. They reach high success rates on clean inputs but collapse under small adversarial perturbations. A $16/255$ PGD attack on OpenVLA-7B drops LIBERO success from above $95\%$ to under $5\%$. Empirical defenses recover some robustness at a cost in clean accuracy, but the literature does not say whether the trade-off has a theoretical floor. We prove that it does. For any VLA policy with discrete actions, the sum of capability (mutual information between policy action and oracle action) and robustness (mutual information preserved under adversarial perturbation, net of trivial channel leakage) is upper-bounded by a policy-independent budget: task entropy plus adversarial channel capacity. The proof is two applications of the...

论文介绍 本文证明视觉-语言-动作(VLA)模型中能力(预测准确性)与鲁棒性(对抗扰动下的稳定性)之间存在理论权衡。通过信息论方法,推导出能力与鲁棒性的上界,表明两者不可兼得,为VLA模型的安全部署提供理论依据。

Broken Object Level Authorization in the Wild: An Empirical Taxonomy from 100+ Bug Bounty Disclosures

第一作者: Bandana Kaur · 方向: 软件安全

Abstract:Broken Object Level Authorization (BOLA) is consistently ranked the most critical API security vulnerability, yet the existing literature remains almost entirely conceptual. This paper presents one of the first large-scale empirical analyses of BOLA in publicly disclosed bug bounty reports. We constructed a reproducible sampling frame of 200 HackerOne disclosures tagged IDOR or Improper Access Control (2021-2026) and applied a three-criterion inclusion filter, yielding 107 fully classified reports. Classification used an LLM-assisted schema-completion procedure under constrained, human-adjudicated criteria against a six-family BOLA taxonomy. Of 107 classified reports, 84 (78.5%) were confirmed in-scope BOLA. Action-Level Object BOLA, defined by unauthorized state-changing actions on another user's objects, accounts for 41.7% of confirmed cases and emerges alongside Direct...

论文介绍 对象级权限中断是最关键的API安全漏洞之一,但相关文献多停留在概念层面。本文基于100多份公开的漏洞赏金报告,进行了大规模的实证分析。通过应用一个经人工裁定的六族分类法,研究确认了BOLA的现实存在模式,并发现直接对象BOLA占比显著。这项工作为理解BOLA在现实世界中的具体表现提供了宝贵的实证数据。

Proof of Useful Attestation: A Consensus Primitive for Attestation-Native Chains

第一作者: Stefan Stefanović · 方向: 区块链安全

Abstract:Validators on generic Proof of Stake chains earn the same fees whether they handle attestation work correctly or selectively censor it. For chains whose main activity is moving tokens around, that indifference is fine. For chains whose primary economic activity is recording attestations (content provenance, AI-output attribution, threshold-signed credentials, supply-chain receipts), the indifference becomes a problem. Proof of Useful Attestation (PoUA) makes attestation handling first-class in the consensus weighting itself. Validator vote weight is the product of bonded stake and a reputation scalar in [r_min, r_max] that accumulates from valid attestation work. The reputation update is additive, fee-weighted, non-transferable, and capped per epoch. We prove a cost-to-grind floor (Lemma 1): under chain-wide adaptive burn fraction tau_burn, the non-recoverable cost an...

论文介绍 对于以记录证明为主要经济活动的区块链,现有权益证明共识机制对验证者正确处理证明工作缺乏激励。本文提出了「有用证明证明」,这是一种将证明处理提升为共识一等公民的共识原语。验证者的投票权重由质押金额和一个动态更新的声誉标量共同决定,声誉基于其完成的有效证明工作累积,旨在更公平地奖励验证者的贡献。

TTPrint: Evidence-Grounded TTP Extraction via Diverge-then-Converge Verification

第一作者: Yutong Cheng · 方向: AI 安全

Abstract:Extracting MITRE ATT&CK techniques from cyber threat intelligence (CTI) reports is an open-set, multi-label problem requiring both high recall (not missing techniques) and high precision (not hallucinating unsupported ones). Existing methods--rule-based, supervised, and LLM-based--struggle to achieve both: rule-based and supervised approaches lack generalizability across diverse attack descriptions, while LLM-based approaches that couple candidate generation and validation within a single inference step suffer from limited recall and precision simultaneously. We propose TTPrint, which addresses this challenge through a diverge-then-converge design inspired by how human analysts work: first extracting broadly, then verifying rigorously. In the divergent phase, reports are decomposed into atomic behaviors and candidate techniques are proposed broadly. A deterministic span...

论文介绍 从网络威胁情报报告中自动提取ATT&CK技术是一个需要同时保证高召回率和高精度的挑战性任务。现有方法难以兼顾。本文提出了TTPrint,它采用一种「先发散、后收敛」的设计。在发散阶段,报告被分解为原子行为并广泛提取候选技术;在收敛阶段,则通过一个确定性的跨度验证过程对候选进行严格筛选,以确保提取结果有证据支持。

"What is the Problem Space?" Defining Host-space Adversarial Perturbations against Network Intrusion Detection Systems

第一作者: Miel Verkerken · 方向: AI 安全

Network Intrusion Detection Systems (NIDS) are now increasingly leveraging Machine Learning (ML) techniques to detect malicious network activities. Numerous papers have scrutinized the security of ML-based NIDS (ML-NIDS) by testing them against various attacks involving adversarial perturbations. The findings were oftentimes worrying: by making imperceptible changes to a given input, powerful ML models would be bypassed. In this context, we took a step back and wondered: where (i.e., in what "space") have these perturbations been applied? We argue that real-world adversaries can apply adversarial perturbations only by operating on the hosts they can control -- a concept which we define as _host-space perturbations_. To some, such an observation may seem trivial. And yet, through a systematic literature review (n=316), we found that prior work applied perturbations by manipulating...

论文介绍 许多研究测试了机器学习网络入侵检测系统在对抗扰动下的安全性,但扰动施加的「空间」是否现实值得商榷。本文提出,真实世界的攻击者只能通过操控其控制的主机来施加扰动,即「主机空间扰动」。通过对大量文献的系统性回顾,作者发现先前工作常应用不切实际的空间扰动,这可能导致对ML-NIDS安全性的评估过于乐观。

SAMark: A Self-Anchored Text Watermarking with Paragraph-Level Paraphrase Robustness

第一作者: Jiahao Huo · 方向: 安全研究

Semantic-level watermarking (SWM) improves robustness against text modifications by treating sentences as the basic unit. However, robustness to paragraph-level paraphrasing remains difficult because such attacks globally disrupt watermark signals by changing sentence order. In this work, we propose SAMark, a self-anchored watermarking framework that removes the dependency on sentence order by establishing a step-independent green region in semantic space. To improve detectability, we introduce a multi-channel hyperbolic scoring mechanism that amplifies watermark signals while suppressing noise from weakly aligned candidates. We further propose a diversity-aware filtering strategy that combines hard filtering with soft regularization, extending beyond simple n-gram repetition filters to address semantic redundancy. Experimental results show that SAMark achieves up to 90.2% TP@FP1%...

论文介绍 该研究针对语义级文本水印在段落级改写攻击下鲁棒性不足的问题,提出了SAMark框架。核心方法包括在语义空间中建立步骤无关的绿色区域,消除对句子顺序的依赖,并引入多通道双曲评分机制和多样性感知过滤策略以增强水印信号检测。该方法可能应用于文本版权保护和内容认证领域。

Efficient and Privacy-Preserving Distribution Statistics Analytics on Mobile Spatial Data

第一作者: Xuhao Ren · 方向: 系统安全

Abstract:With the rapid development of mobile computing technology, massive amounts of spatial data are continuously generated from various mobile terminals and sensing devices, such as smartphones, connected vehicles, and drones. Performing efficient distributed statistical analysis on this data is crucial for real-time mobile computing applications. However, the constrained and dynamic nature of mobile environments exacerbates the privacy challenge: centralizing sensitive data for analysis risks severe privacy leaks, while existing privacy-preserving techniques often introduce excessive overhead or inaccuracies In this paper, we design, implement, and evaluate the first system that supports efficient and privacy-preserving distribution statistics analysis for mobile spatial data. First, we propose eSpat-B, which leverages two non-colluding servers and a newly designed improved...

论文介绍 本文针对移动环境中空间数据分布统计分析的隐私泄露风险和现有技术开销问题,设计并实现了首个高效且隐私保护的移动空间数据分析系统。核心方法eSpat-B利用两个非合谋服务器进行分布式推理,支持实时移动计算应用,如交通分析和位置服务。

An Efficient and Privacy-Preserving Architecture for Cross-Institutional Collaborative RAG

第一作者: Chenxin Mao · 方向: 密码学协议

Retrieval-Augmented Generation (RAG) empowers LLMs with external knowledge, making cross-institutional domain-specific knowledge base integration a highly promising deployment paradigm. Despite this potential, strict privacy regulations create severe "data silos" that obstruct such collaboration. Building federated RAG systems requires distributed inference, but the Transformer's self-attention mechanism fundamentally conflicts with this by mandating cross-node access to distributed Key-Value caches. To address this challenge, we present FedRAG, a high-throughput, privacy-preserving federated RAG framework. At its core is a novel Scrambled Distributed Attention protocol that utilizes numerically stable feature scrambling and token permutation. By dynamically delegating scrambled computations to collaborating nodes, our system successfully decouples attention execution from data...

论文介绍 研究解决跨机构RAG协作中隐私法规导致的数据孤岛问题,以及Transformer自注意力机制与分布式推理的冲突。提出FedRAG框架,其核心是扰乱分布式注意力协议,通过特征扰乱和令牌置换实现隐私保护,适用于医疗或金融领域的知识共享。

Ecosystem-Driven Privacy Exposure in Mobile Gaming Apps: A Configuration-Aware Empirical Analysis

第一作者: Bakheet Aljedaani · 方向: 软件安全

Abstract:Mobile gaming apps increasingly rely on third-party Software Development Kits SDKs for advertising, analytics, attribution, and user engagement, potentially introducing privacy exposure beyond traditional permission based risks. Existing studies have largely focused on permissions or isolated tracking behaviors, providing only a partial understanding of privacy exposure in modern mobile ecosystems. This study presents a configuration aware empirical assessment of privacy exposure in Android mobile gaming apps by examining permissions, manifest level configurations, exported components, and SDK ecosystem complexity across children-oriented and general-audience games. A systematic static analysis was conducted on 41 widely deployed Android mobile gaming apps collected from the Google Play ecosystem. The analysis incorporated SDK categorisation and statistical evaluation using...

论文介绍 该研究关注移动游戏应用中第三方SDK引入的隐私暴露风险,超越传统权限分析。通过配置感知的实证分析,检查Android游戏应用的权限、清单配置和SDK复杂性,旨在为隐私保护设计和应用审核提供参考。

Referential Security as a New Paradigm for AI Evaluations

第一作者: Dan Ristea · 方向: AI 安全

Abstract:Security evaluations inherently depend on stable identifiers. Any finding, audit, or regulatory decision must remain attached to the specific artifact it pertains to. Continuously updated artificial intelligence systems violate this core assumption, with public model designations remaining static while underlying weights, prompts, retrieval mechanisms, misuse classifiers, inference settings, and serving infrastructures undergo unannounced modifications. Consequently, current evaluations frequently apply to superficial labels rather than identifiable and distinct systems. To resolve this, we propose referential security as a new paradigm for AI evaluation. The fundamental security question extends beyond whether a model is safe to whether subsequent parties can conclusively determine which system a specific safety claim addressed. This approach reframes model identity as an...

论文介绍 针对AI系统持续更新导致安全评估结果与具体系统不匹配的问题,提出参考安全性作为新评估范式。核心是强调确定安全声称所针对的可标识系统,而非表面标签,可能应用于AI监管和安全审计领域。

Heimdall: Formally Verified Automated Migration of Legacy eBPF Programs to Rust

第一作者: Vishnu Asutosh Dasu · 方向: 系统安全

Abstract:Extended Berkeley Packet Filter (eBPF) programs are kernel extensions used for networking, observability, and security enforcement in the Linux kernel. The in-kernel eBPF verifier checks low-level memory safety and termination on eBPF programs, but it does not enforce many higher-level source-level properties, such as initialization discipline, schema consistency, or error handling. We document six classes of source-level bugs that compile, pass the kernel verifier, and can silently corrupt data, leak previously traced events to userspace, or yield incorrect enforcement outcomes. Among these, we identify previously unreported information leaks in ten open-source eBPF programs whose ring-buffer or stack-resident event records carry fully decodable prior traced events, including user-identifying paths and recurring kernel-text return addresses sufficient to recover the KASLR...

论文介绍 本文识别eBPF程序中存在的源代码级漏洞,如信息泄露,这些漏洞未被内核验证器覆盖。提出Heimdall框架,自动将遗留eBPF程序迁移到Rust并进行形式化验证,以增强内核安全性和程序可靠性。

Evo-Attacker: Memory-Augmented Reinforcement Learning for Long-Horizon Tool Attacks on LLM-MAS

第一作者: Bingyu Yan · 方向: AI 安全

While Large Language Model-based Multi-Agent Systems (LLM-MAS) demonstrate remarkable capabilities in solving complex tasks by orchestrating specialized agents and external tools, the implicit trust in tool outputs creates a critical attack surface. Existing tool attacks are limited by domain specificity or fixed and static templates. To address these challenges, we propose Evo-Attacker, which formulates the tool attack as a self-evolving, memory-augmented reinforcement learning process. Evo-Attacker constructs a dynamic attack memory and employs deliberative reasoning to retrieve adversarial patterns and strategize modifying interventions at critical moments. Furthermore, we introduce Attack-Flow GRPO to optimize intermediate reasoning steps via terminal outcomes, addressing the long-horizon credit assignment challenge. Comprehensive experiments demonstrate that Evo-Attacker...

论文介绍 研究针对LLM多智能体系统中工具输出信任的攻击面,现有攻击模板静态。提出Evo-Attacker方法,将工具攻击建模为自进化、记忆增强的强化学习过程,使用攻击流GRPO优化中间步骤,适用于AI安全测试。

KYA: A Framework-Agnostic Trust Layer for Autonomous Systems with Verifiable Provenance and Hierarchical Policy Composition

第一作者: Kolawole Quadri · 方向: 密码学协议

Abstract:Observability tells operators when an agent is slow. KYA tells operators when an agent is wrong, drifting, leaking, or quietly going rogue. We present KYA (Know Your Agents), an open-source trust and governance layer for autonomous systems composed of five primitives: (1) a four-gate inbound apply pipeline composing Ed25519 signature verification with multi-anchor pinning, persist-time expiry, only-tighten composition, and operator-approval-as-default; (2) an only-tighten composition algebra over a three-channel multi-tenant hierarchy (platform default,tenant override, signed external recommendation); (3) KYP -- Know Your Principal, a schema-level unification of trust scoring across human users, AI agents, and service accounts; (4) auditable interaction-multiplier amplification over an AIVSS-shaped additive baseline, with bounded asymmetric per-interaction multipliers carrying...

论文介绍 为解决自主系统的信任和治理需求,提出KYA开源信任层,监控代理行为如错误或漂移。核心包括入站应用管道、分层策略组合和审计交互放大,可应用于机器人或自动驾驶等领域的代理治理。

Decoupling Reentrancy Protection from Smart Contract Implementation Logic

第一作者: Shashank Joshi · 方向: 系统安全

Reentrancy attacks remain a persistent threat to decentralized applications (DApps), with malicious actors siphoning around 80M USD from the DApp ecosystem last year by exploiting EVM's inter-contract message-passing semantics. Existing research focuses primarily on detection, relying on known attack patterns, and fails to provide deployable solutions that eliminate the vulnerability. Traditional reentrancy guards are similarly limited, offering incomplete coverage across attack variations and lacking robustness against complex DApp interactions. In this paper, we introduce Sentinel, a novel proxy-based approach that mitigates reentrancy vulnerabilities in a type-agnostic way by integrating reentrancy logic directly into the proxy layer, intercepting all calls to the underlying implementation contract. Key features include a dual-mode operational system offering both a gas-optimized...

论文介绍 智能合约中的重入攻击威胁去中心化应用安全,现有防护方法覆盖不全。本文提出 Sentinel,一种基于代理的方案,将重入逻辑集成到代理层,拦截所有对底层合约的调用,提供类型无关的缓解。该方法采用双模式操作和 gas 优化设计,旨在提升智能合约生态的安全性。

Pre-Characterization of Electromagnetic Side-Channel Leakage Using Publicly Available Information: A Case Study on E-Voting Interfaces

第一作者: Leonardo Teodoro · 方向: 密码学协议

Abstract:In this work, we study the interface of the Brazilian e-Voting Machine (BVM) in the context of electromagnetic side-channel threats commonly referred to as TEMPEST attacks. In a TEMPEST attack against video displays, an eavesdropper uses Software-Defined Radios (SDRs) to recover sensitive information by intercepting electromagnetic emanations generated during video signal transmission. We emulate the BVM using a VGA monitor by leveraging publicly available information disclosed by the electoral authority, including technical specifications, operational rules of the system, and the official BVM interface. Based on this setup, we investigate whether the BVM interface gives rise to a distinctive spectral signature observable through its unintended electromagnetic emissions. Our findings show that design characteristics relevant to a nationwide electoral process -- such as high...

论文介绍 电子投票机可能面临电磁侧信道威胁,导致敏感信息泄露。本文利用公开信息模拟巴西投票机接口,通过软件定义无线电评估无意电磁发射的独特频谱特征。研究旨在为选举系统的安全评估提供方法,提前识别潜在漏洞,增强选举过程的安全性。

Security in the Fine-Tuning Lifecycle of Large Language Models: Threats, Defenses,Evaluation, and Future Directions

第一作者: Wenjuan Li · 方向: AI 安全

Abstract:Background: Fine-tuning is central to adapting pre-trained Large Language Models (LLMs) to downstream tasks, but its reliance on training data, parameter updates, and reusable components opens entry points for attackers. Threats have evolved from data poisoning and weight tampering to agent manipulation and interface exploitation, yet existing reviews lack a unified framework spanning the full fine-tuning lifecycle. Objective: This paper presents a systematic survey of LLM fine-tuning security and establishes a lifecycle-based framework for comparing attacks and defenses, complemented by unified empirical evaluation. Methods: We divide attack and defense mechanisms into three phases by intervention timing: pre-tuning, during-tuning, and post-tuning. Within each phase, strategies are reviewed and contrasted to expose their evolution and limitations. Representative methods are...

论文介绍 大型语言模型的微调过程存在数据投毒、权重篡改等安全威胁,现有研究缺乏统一框架。本文系统综述微调安全,建立基于生命周期的框架,涵盖微调前、中、后三阶段,分析攻击和防御方法,并提供统一评估。旨在为安全微调实践提供指导和未来方向。

Securing High-Performance Data Transfers: Implementing AES Encryption in RDMA Systems

第一作者: Erik Bångsbo · 方向: 密码学协议

Abstract:Remote Direct Memory Access (RDMA) is a key enabler of high-performance systems, offering low latency, high throughput, and reduced CPU overhead by allowing direct memory-to-memory transfers between machines. However, its design bypasses traditional CPU-mediated security mechanisms, introducing critical vulnerabilities in untrusted environments. This work explores the integration of RDMA and AES-128 encryption to secure data transfers without compromising performance. We implement encryption directly within the data plane of a programmable Tofino switch using the P4 programming language. By offloading encryption from the CPU to the switch, our design preserves RDMA's performance benefits while addressing its security shortcomings. Experimental results show that the system achieves throughput of 0.37 Gbps for 16-byte packets, 0.76 Gbps for 32-byte packets, 1.83 Gbps for 64-byte...

论文介绍 远程直接内存访问提供高性能数据传输但安全性不足,易受攻击。本文探索在 RDMA 系统中集成 AES-128 加密,通过在可编程 Tofino 交换机的数据平面实现加密,卸载 CPU 负担。实验显示在不同包大小下达到一定吞吐量,旨在安全化高性能数据传输,适用于不信任环境。

MemMark: State-Evolution Attribution Watermarking for Agent Long-Term Memory Systems

第一作者: Haobo Zhang · 方向: AI 安全

Abstract:Memory-backed agents need provenance that can survive leaked or migrated snapshots, where logs, visible outputs, and trusted metadata may be absent. We propose MemMark, a state-evolution attribution watermark that embeds an owner-controlled signal into latent memory-write decisions. At each internal LLM call, MemMark samples among admissible candidates using keyed, distribution-preserving selection, and records cryptographic commitments with signed session anchors and reveal evidence. This makes attribution depend on reproducible backend behavior rather than mutable provenance fields. Across A-Mem and Graphiti on LoCoMo, with three LLM backbones, MemMark preserves memory utility: Overall F1 retains 99.6% of the unwatermarked baseline, while BLEU-1 changes by +0.2%. It also provides usable carrier capacity, with 1.16, 1.14, and 1.26 bits of mean entropy for update-target...

论文介绍 代理长期记忆系统在快照泄露或迁移时缺乏归属验证机制。提出 MemMark,一种状态演化归属水印,在内部 LLM 调用中嵌入基于键的选择,并记录加密承诺。实验在多个基准上保持记忆效用,提供可用容量,旨在增强代理记忆的安全性和归属追踪能力。

EnThM: Energy Theft Mitigation in Smart Grids using Hierarchical Verification of Metering Data

第一作者: Tapadyoti Banerjee · 方向: 网络安全

Abstract:The advent of digital technologies has revolutionized traditional power distribution networks, transforming them into smart grids that are more reliable, efficient, and sustainable. Despite these advancements, electricity theft remains a significant threat to the effective operation of large electrical networks. To address this issue, we propose EnThM, a lightweight and communication-efficient scheme for real-time mitigation of power theft in smart grid systems. Our approach uses the hierarchical structure of the smart grid infrastructure to verify the authenticity of the metering data at multiple levels of the power distribution network. Our work focuses primarily on issues related to cryptographic security. The verification process involves statistically modeling the cumulative averages of the power usage data and applying rule-based checks on the aggregated power...

论文介绍 电力盗窃威胁智能电网的运行效率和可靠性。提出 EnThM,一种轻量且通信高效的实时缓解方案,利用电网层次结构在多个层级验证计量数据真实性,通过统计建模和规则检查。关注密码学安全,旨在有效防止电力盗窃,提升智能电网的整体安全性。

APT-Agent: Automated Penetration Testing using Large Language Models

第一作者: William Guanting Li · 方向: AI 安全

Abstract:Penetration testing is essential to securing modern web infrastructures, yet traditional manual methods struggle to keep pace with their scale and complexity. Large Language Models (LLMs) offer new opportunities for automating these tasks, but existing approaches face two persistent challenges: hallucination of technical entities and insufficient long-term contextual memory. To address these issues, we present APT-Agent, a fully automated LLM-driven penetration testing framework that systematically orchestrates reconnaissance, exploitation, and exfiltration. APT-Agent introduces a hybrid rectification module to recover hallucinated commands and a command-specific memory architecture to preserve operational context across multi-step attack sequences. We evaluate our APT-Agent on Metasploitable 2 against seven vulnerable services spanning web, database, and network protocols...

论文介绍 传统渗透测试难以应对现代 web 基础设施的规模和复杂性。提出 APT-Agent,一个 LLM 驱动的自动化渗透测试框架,系统化侦察、利用和数据渗出。引入混合纠正模块和命令特定记忆架构,解决 LLM 幻觉和长期记忆问题。在模拟环境中评估,针对多种脆弱服务。

Memory-Induced Tool-Drift in LLM Agents

第一作者: Mahavir Dabas · 方向: AI 安全

Abstract:Modern LLM agents combine long-term memory for personalization with tool-calling interfaces for taking actions in the world -- a combination underpinning contemporary production systems. We study a previously unexamined failure of this combination: when personality-driven biases stored in memory (cost-consciousness, impatience, risk tolerance, etc.) silently affect tool calls in contexts where they are not applicable. We call this memory-induced tool-drift and operationalize it through MEMDRIFT, a benchmark of 105 scenarios spanning five bias dimensions and seven professional domains, generated through an automated adversarial pipeline. Across seven frontier models -- including those with extended reasoning -- biased memories raise deflection scores (a judge-scored measure of parameter deviation from unbiased baselines) by up to $+3.6$ points on a 1--5 scale. Tool-drift...

论文介绍 LLM 代理结合长期记忆和工具调用,但记忆中的个性偏见可能在不适用的上下文中影响工具调用,称为记忆诱导工具漂移。提出 MEMDRIFT 基准,包含多个场景,评估多个前沿模型,显示偏见记忆增加偏离分数。旨在识别和缓解此类代理行为故障,提高系统可靠性。

SEED: Semi-supervised Continual MalwarE Detection for Tackling ConcEpt Drift on a BuDget

第一作者: Suresh Kumar Amalapuram · 方向: 软件安全

Abstract:Machine learning based malware detectors become obsolete over time due to concept drift in benign and malware applications. Recent methods rely on fully labeled data and use hierarchical contrastive loss (HCL) with active learning to improve robustness against drift by exploiting semantic structure in malware representations. However, obtaining labeled data in the security domain is difficult. Under partially labeled settings, HCL suffers significant performance degradation in detecting unseen malware, especially on datasets such as BODMAS where strong semantic structure may not exist. In this paper, we propose SEED, a semantic-structure-agnostic method for malware detection under limited supervision. SEED combines a tailored binary cross-entropy objective with semi-supervised continual learning and active learning. For partially labeled seen tasks, unlabeled samples are...

论文介绍 本文研究机器学习恶意软件检测器因概念漂移而性能衰退的问题。现有方法严重依赖全标签数据。SEED 提出一种在有限监督下对语义结构不敏感的检测方法,将定制化的二元交叉熵损失与半监督持续学习、主动学习相结合,旨在以较低标注成本提升对新出现恶意软件的检测能力。

Reflect-Guard: Enhancing LLM Safeguards against Adversarial Prompts via Logical Self-Reflection

第一作者: Lixing Lin · 方向: AI 安全

Abstract:Large language model (LLM) safety classifiers such as Llama Guard are effective at detecting overtly harmful prompts but remain vulnerable to adversarial jailbreak attacks that disguise malicious intent through role-play scenarios, fictional framing, and indirect requests. We present Reflect-Guard, a method that augments LLM-based safety classifiers with chain-of-thought self-reflection capabilities through parameter-efficient fine-tuning. Our approach distills analytical reasoning from GPT-4o-mini into structured reflection annotations, then trains Llama-Guard-3-8B via QLoRA to generate logical self-reflections before issuing safety verdicts. Using only 1000 training examples and updating just 0.5% of model parameters (~42M), Reflect-Guard achieves substantial improvements on two challenging benchmarks. On WildGuardTest, F1 score improves from 0.770 to 0.842 (+7.2 pp), with...

论文介绍 本文针对大语言模型安全分类器易受对抗性越狱攻击的问题,提出了 Reflect-Guard 方法。该方法通过参数高效微调,为安全分类器增加了链式思维自我反思能力,使其在给出安全判定前进行逻辑分析。实验表明,仅使用少量训练样本更新少量参数,即可在挑战性基准上显著提升检测性能。

RouteScan: A Non-Intrusive Approach to Auditing MoE LLMs Safety via Expert Routing Telemetry

第一作者: Bo Lv · 方向: AI 安全

Abstract:Mixture-of-Experts (MoE) architectures have become an increasingly important paradigm for scaling Large Language Models (LLMs). As MoE models are increasingly deployed in real-world services, safety auditing becomes necessary to verify whether these models produce or facilitate harmful behaviors during operation. However, existing content-based auditing methods typically require access to user prompts, model inputs, or generated outputs, potentially exposing sensitive user information and creating a fundamental tension between LLM safety and user privacy. On the other hand, we observe that, in MoE models, sparse expert routing maps different inputs to activate different expert-execution patterns, producing measurable footprints in low-level GPU execution telemetry. Inspired by this observation, we propose RouteScan, a non-intrusive auditing framework for detecting harmful...

论文介绍 随着混合专家架构的大语言模型被广泛部署,其安全审计需求日益增长。然而,现有基于内容的审计方法可能暴露用户敏感信息。本文观察到MoE模型的专家路由模式会在GPU执行遥测数据中留下踪迹,并据此提出了RouteScan框架,旨在通过分析遥测数据实现非侵入式、保护隐私的有害行为检测。

CyberMaskQA: A Privacy-Aware Benchmark for Evaluating Large Language Models in Cybersecurity Question Answering

第一作者: Matilda Gaddi · 方向: 系统安全

Abstract:Large language models (LLMs) are increasingly applied to cybersecurity question answering (QA) for critical tasks such as incident response and vulnerability analysis. However, real-world operational contexts, including system logs and network configurations, inherently contain sensitive identifiers, e.g., IP addresses, host names, and user accounts. Processing this data with cloud-based models is often unsafe or infeasible in regulated environments. Furthermore, progress in privacy-preserving QA is hindered by the lack of annotated, context-rich datasets capable of jointly evaluating operational reasoning and privacy preservation. To address this gap, we introduce CYBERMASKQA, a privacy-aware QA benchmark covering key security domains. Unlike existing benchmarks that primarily test factual knowledge, CYBERMASKQA grounds questions in realistic organizational contexts with...

论文介绍 当前缺乏能够同时评估大语言模型在网络安全领域的推理能力和隐私保护能力的数据集。本文提出了 CYBERMASKQA,一个隐私感知的问答基准。该基准基于真实组织场景构建问题,并采用特定方法掩码敏感标识符,旨在评估模型在处理可能包含隐私信息的实际安全运营任务时的表现。

CALIBURN: A Regime-Sensitivity Study of Operationally Calibrated Streaming Intrusion Detection

第一作者: Michel A. Youssef · 方向: 网络安全

Abstract:Streaming network intrusion detection systems must process flows continuously while keeping memory bounded, but most current methods leave alerting threshold selection as a post-hoc tuning problem poorly suited to production. Operators need alerting behaviour specifiable before deployment using inputs such as false-negative cost, false-positive cost, and alerting budget. This paper presents CALIBURN, a five-component streaming alerting pipeline composed of a truncated Bayesian online change-point detector, an isotonic calibration layer mapping the change-point posterior to an empirical conditional attack probability, a cost-sensitive decision threshold derived from operator-specified misclassification costs, a Conformal Risk Control wrapper that converts an alert-budget specification into a within-window valid threshold under exchangeability, and a multi-window burn-rate...

论文介绍 流式网络入侵检测系统需要持续处理数据并控制告警行为,但现有方法的告警阈值通常需要事后调整。本文提出 CALIBURN,一个五组件流式告警流水线,允许运营人员在部署前通过指定误报成本、漏报成本和告警预算等参数,来配置符合运营需求的、可校准的检测行为。

CyBOKClaw: Human-in-the-Loop CyBOK Mapping for Cybersecurity Curriculum

第一作者: Yan Lin Aung · 方向: 安全研究

Abstract:This paper presents CyBOKClaw, an interpretable human-in-the-loop retrieval framework for mapping cybersecurity keywords or phrases (KWoPs) to the Cyber Security Body of Knowledge (CyBOK). Rather than treating the task as strict exact classification, the framework is designed as a top-k candidate generator for expert review. It combines query normalization, curated term expansion, concept-level boosts, topic-description enrichment, and domain-sensitive ranking rules. Because educational KWoPs are often broad, ambiguous, and only approximately aligned with CyBOK terminology, strict exact matching provides only a partial account of practical utility. We therefore evaluate the framework using both structural retrieval metrics and an expert-guided top-5 usefulness metric, ECA-5 (Exact or Closest Acceptable Match at top-5), which records whether the returned candidates contain at...

论文介绍 本文提出了 CyBOKClaw 框架,用于将网络安全关键词映射到网络安全知识体系。该框架采用人机协作模式,通过查询规范化、术语扩展和领域敏感排序等步骤,为专家生成一个包含前K个候选的知识类别列表供审核,以应对术语广泛、模糊且不完全匹配的挑战。

Demystifying the Mythos or Disrupting Bugonomics? From Zero-Day Asymmetry to Defender Remediation Throughput

第一作者: Alfredo Pesoli · 方向: 软件安全

Abstract:Recent demonstrations of large language models producing candidate and confirmed vulnerabilities in production software have renewed the narrative that AI will reshape offensive and defensive security. Headlines emphasize capability; they rarely interrogate costs and incentives. This paper examines LLM-driven vulnerability discovery through a bugonomics lens: the operational economics of producing, proving, prioritizing, and fixing security-relevant defects. Historically, the most visible high-end bugonomics was offense-priced because production-grade zero-days and exploit chains were expensive specialist outputs for governments, brokers, and offensive vendors. Defender-side bugonomics already existed in vulnerability research, reward programs, and vendor remediation work; LLM-assisted systems change its scale and distribution. They make candidate generation, code...

论文介绍 本文从「漏洞经济学」的视角分析LLM辅助漏洞发现对网络安全生态的影响。传统上,高价值的零日漏洞开发成本高昂。论文探讨了LLM系统如何改变漏洞的生成、验证、优先级排序和修复流程,特别是对防御方漏洞管理和补丁工作流在规模和成本分布上可能带来的变革。

Analyzing Concentration, Temporal Routines and Targeting in Public Ransomware Leak Site Data

第一作者: Lea Müller · 方向: 安全研究

Abstract:Ransomware has grown to become one of the most damaging types of cybercrime, affecting private and public organizations in any sector. While early types of ransomware targeted many victims via automated attacks, ransomware groups have started to specifically target organizations and companies in the expectation of receiving larger ransoms. To increase the pressure on victims, most groups host so-called data leak sites, where information about their victims is made public. The shift towards 'human-operated' ransomware together with easily accessible behavioral traces available from data leak sites makes research investigating operational regularities of ransomware groups of interest. Using leak site posts as behavioral traces of ransomware groups, we created a dataset consisting of over 27,000 posts from 325 groups. Based on this dataset, we analyzed victim concentration...

论文介绍 勒索软件组织常通过数据泄露网站施压受害者。本文利用来自325个组织的超过27,000条泄露网站帖子作为行为痕迹,构建数据集并分析受害者集中度、时间规律和目标选择等模式,以增进对勒索软件组织运营规律的理解。

Ellipsoid Control: A White-list Jailbreak Defense via Benign Latent Modeling

第一作者: Luoyu Chen · 方向: 安全研究

Abstract:Representation engineering (RepE) defenses have shown strong robustness against jailbreak attacks on large language models (LLMs). However, these methods fundamentally rely on black-list supervision: they learn jailbreak-to-refusal activation transformations from harmful or jailbreak data that are inherently incomplete and continuously evolving. Hence, the performance of RepE-based defenses becomes tightly coupled to the quality and coverage of collected harmful samples, leaving models vulnerable to unseen attacks. This reliance also obscures the distinction between defenses that fit known harmful distributions and defenses that protect a benign latent region without estimating the harmful distribution. We adopt the opposite, the white-list perspective, by leveraging the accessibility and abundance of benign data. The goal is to elicit refusal on arbitrary inputs while...

论文介绍 本文研究大语言模型越狱攻击的防御问题。现有表示工程防御依赖黑名单位监督,对未见攻击脆弱。本文提出一种基于良性潜在建模的白名单防御方法,通过利用良性数据来引发拒绝响应,从而增强模型安全性。该方法旨在减少对有害样本的依赖,提高防御的鲁棒性。

Routing Cybersecurity Awareness Training by FFM Personality Trait: A Quasi-Experimental Evaluation

第一作者: Glory Okwata · 方向: 系统安全

Abstract:Cybersecurity awareness training has historically adopted a one-size-fits-all approach, despite established individual differences in how users process and retain security information. Personality has been proposed as one axis along which training content might be tailored; yet no prior study has implemented and empirically evaluated a complete personality-conditional system end-to-end. This paper reports the design, implementation, and quasi-experimental evaluation of \emph{TailoredSec}, a mobile cybersecurity awareness application that routes training content based on a user's dominant Five-Factor Model (FFM) personality trait, as measured by the ten-item Big Five Inventory (BFI-10). Seventy-four UK-based adults were allocated to a traditional video-training condition ($n = 40$) or a personality-conditional condition ($n = 34$). Both groups completed a four-item...

论文介绍 本文探讨如何根据用户人格特质定制网络安全意识培训。研究开发了TailoredSec移动应用,基于五因素人格模型测量结果路由培训内容,并通过准实验评估效果。结果表明,个性化培训可能提升用户对安全信息的处理和保留,为安全教育个性化提供实证支持。

AI-Driven Adaptive Adversaries and the Erosion of Cryptographic Trust in Public Key Systems

第一作者: Petar Radanliev · 方向: AI 安全

Abstract:This paper examines the erosion of Public Key Cryptography (PKC) security under adaptive adversarial optimisation driven by artificial intelligence. The problem addressed is the growing mismatch between algorithm-centric cryptographic security models and operational attack realities, where adversaries exploit implementation-level observability rather than breaking cryptographic primitives.

论文介绍 本文分析人工智能驱动的对抗者如何侵蚀公钥密码系统的安全。研究指出,传统算法中心安全模型与现实攻击存在差距,对抗者利用实现级可观测性进行攻击,而非直接破解密码原语。这强调了在AI时代重新评估密码系统安全的必要性。

Steering Beyond the Support: Adversarial Training on Unsupervised Jailbroken Activation Simulation

第一作者: Luoyu Chen · 方向: AI 安全

Abstract:Jailbreak prompts can trigger harmful completions on aligned LLMs, In accordance, safety steering has been proposed: test-time activation interventions that steer jailbreak activations to trigger refusal while preserving benign utility. However, existing steering methods are fundamentally supervised and tied to a static, limited training set, whereas real jailbreaks evolve and are often out-of-distributed from the training set, leading to failures on unseen attacks. In this paper, we tackle the failure on unseen jailbreaks problem, base on unsupervised latent direction discovery. We propose a bi-level adversarial training framework for zero-shot jailbreak defense. In the inner step, we simulate diverse jail-broken activations by extrapolating from refusal-state harmful-request activations via unsupervised latent direction discovery, which expands the coverage of real jailbreak...

论文介绍 本文解决大语言模型对未见越狱攻击的防御失败问题。提出基于无监督潜在方向发现的双层对抗训练框架,通过模拟多样越狱激活来扩展覆盖范围。该方法旨在实现零样本越狱防御,减少对静态训练集的依赖,增强模型对未知攻击的鲁棒性。

Poisoning the Watchtower: Prompt Injection Attacks Against LLM-Augmented Security Operations Through Adversarial Log Content

第一作者: Rohan Pandey · 方向: AI 安全

Abstract:Large language models (LLMs) are increasingly used as analyst assistants in security operations centers (SOCs), where they ingest log and alert data to produce triage labels, incident summaries, or remediation advice. We study a structural failure mode of this design: many log fields are attacker controlled. User agents, URLs, payloads, DNS queries, and attempted usernames can therefore carry instructions to the model alongside evidence of the intrusion. We call this setting \emph{log-substrate prompt injection}. We introduce a four-class taxonomy of log-substrate attacks: direct override (S1), persona hijack (S2), context manipulation (S3), and obfuscated payloads (S4). We evaluate 48 strategy-defense-task combinations using \texttt{gpt-4o-mini} as the analyst. Three findings stand out. First, direct overrides are ineffective in our setting: all S1 classification attacks...

论文介绍 本文探讨大语言模型在安全运营中面临的提示注入风险。攻击者可通过控制日志字段(如用户代理、URL)注入恶意指令。研究提出四类攻击分类法,并评估了多种策略防御组合。结果表明,上下文操纵等攻击可能有效,凸显了安全设计中的挑战。

Five Queries Are Enough: Query-Efficient and Surrogate-Free Membership Inference Attacks on RAG via Entailment

第一作者: Nguyen Linh Bao Nguyen · 方向: AI 安全

Abstract:Retrieval-augmented generation (RAG) has become central to large language model (LLM) deployments, grounding responses in enterprise or proprietary data to reduce hallucinations. However, this design introduces a new privacy risk: model outputs may signal the presence of specific documents in the retrieval corpus, enabling membership inference attacks (MIAs) that leak sensitive information. Existing MIAs are feasible, but they often rely on easily detected templated queries or require many non-templated yet costly and repetitive queries, limiting practicality. We ask: Can an adversary launch a limited-budget, surrogate-free, stealthy, and defense-agnostic membership inference attack using non-templated queries? We present MEntA (Membership Entailment Attack), a query-efficient MIA that leverages natural-language entailment to maximize information gained per query. By asking...

论文介绍 本文研究检索增强生成系统的隐私风险,提出一种查询高效的成员推理攻击方法MEntA。通过自然语言蕴含,仅需五个非模板化查询即可推断文档是否在检索语料中。该方法无需代理模型,具有隐蔽性,揭示了RAG系统的安全漏洞。

Reframing LLM Agent Security as an Agent-Human Interaction Problem

第一作者: Peiran Wang · 方向: AI 安全

Abstract:We argue that LLM agent security is fundamentally an agent-human interaction (AHI) problem, not a purely algorithmic one. To substantiate this position, we conduct a systematic analysis of 59 academic papers, 21 production agent systems, and 26 security plugins as of April 2026. Our analysis reveals a striking pattern: the three widely deployed human-centric security mechanisms (policy specification, runtime approval, and scope configuration) dominate industry practice, each adopted by at least 14 of 21 systems (14, 15, and 16, respectively), while the categories most heavily studied in academia (intent anchoring and trust labeling) see zero production deployment. Yet current human participation mechanisms are far from satisfactory: they suffer from a fundamental trade-off between cognitive burden and security guarantees, leaving users caught between approval fatigue and...

论文介绍 本文将大语言模型代理安全重新定义为代理-人类交互问题。通过分析学术论文、生产系统和安全插件,发现学术研究与工业实践存在差距。人类中心机制如策略指定广泛部署,但存在认知负担与安全保证的权衡,为未来设计提供见解。

Enhancing Reliability in LLM-Based Secure Code Generation

第一作者: Mohammed F. Kharma · 方向: 软件安全

Abstract:Large language models (LLMs) are widely used for code generation, but their security reliability remains inconsistent across languages and prompting strategies. Existing prompt engineering improves functional correctness but rarely ensures consistent security outcomes. We introduce the \textit{Mitigation-Aware Chain-of-Thought (MA-CoT)} framework, which embeds task-specific CWE mitigation guidance and language-aware safeguards to reduce recurring vulnerabilities in generated code. We evaluate MA-CoT across three LLMs (gpt-5, claude-4.5, gemini-2.5), three programming languages (C, Java, Python), and four prompting strategies (Vanilla, Zero-shot, CoT, MA-CoT) on a 200-task primary dataset, with external validation on LLMSecEval. Using static analysis with expert validation, MA-CoT reduces total security findings from 92 to 39 (57.6\%) on the primary dataset and from 73 to 4...

论文介绍 本文关注大语言模型在代码生成中的安全可靠性问题。提出缓解感知链式思考框架MA-CoT,通过任务特定CWE指导和语言感知保障减少漏洞。评估显示,MA-CoT能显著降低安全发现数量,提升代码生成的安全性。

An Empirical Evaluation of LLM-Generated Code Security Across Prompting Methods

第一作者: Mohammed Kharma · 方向: 密码学协议

Abstract:The growing use of Large Language Models (LLMs) for automated code generation has enhanced software development efficiency, but often at the cost of security. Generated code frequently overlooks critical concerns, leaving it vulnerable to issues such as weak encryption and improper input validation. To investigate this problem, we present a comprehensive empirical evaluation of the security quality of LLM-generated code across five LLMs and four programming languages (Java, C++, C, and Python), examining the impact of multiple prompt engineering methods. We introduce a weaknesses-aware zero-shot chain-of-thought (WA-0CoT) prompting strategy that enriches prompts with security context using CWE mappings to guide model reasoning. Our empirical analysis, supported by chi-square tests, finds no statistically significant reductions in vulnerability frequency or density across...

论文介绍 本文对不同大语言模型生成的代码安全性进行实证评估,涵盖五种 LLM 和四种编程语言。研究引入了弱点感知零样本思维链提示策略,利用 CWE 映射丰富提示以引导模型推理。分析发现,在不同提示方法下,漏洞频率和密度没有显著减少,凸显了 LLM 代码生成的安全挑战。

Concept Drift Adaptation Using Self-Supervised and Reinforcement Learning In Android Malware Detection

第一作者: Ahmed Sabbah · 方向: 密码学协议

Abstract:Android malware detectors often degrade after deployment because of concept drift, while full retraining at each maintenance step is costly. We propose a chronological adaptive maintenance framework that models deployment-time maintenance as a sequential decision problem. The framework learns a stable latent representation through self-supervised learning during initialization, freezes the encoder, measures latent drift in the fixed representation space, and performs lightweight downstream adaptation using a trainable adapter and classification head. A proximal policy optimization controller selects low-cost maintenance actions based on the detector state, including current utility, retention on a fixed memory set, latent drift indicators, and update cost. We evaluate the framework under a causal deployment-style protocol on emulator and real Android malware datasets with...

论文介绍 针对 Android 恶意软件检测器因概念漂移而性能下降的问题,本文提出一个基于自监督和强化学习的自适应维护框架。该框架通过自监督学习初始化稳定表示,并使用强化学习控制器选择低成本维护动作,以实现在部署环境中的高效适应。

Attested Tool-Server Admission: A Security Extension to the Model Context Protocol

第一作者: Alfredo Metere · 方向: 密码学协议

Abstract:The Model Context Protocol (MCP) standardizes how a large-language-model (LLM) agent and an external tool server exchange messages, but not trust: a host reads a server's self-declared tool list and dispatches calls, with no notion of which servers it may use, at what sensitivity, or which of a server's tools are in bounds. This work grew out of a concrete need -- letting the Enclawed agent use Google's externally-operated MCP servers (Gmail, Calendar, Drive) safely, admitting the server and bounding the tools it may drive, without changing MCP or Enclawed's own tool application-programming interface (API). The mechanism we built, mcp-attested (shipped in both the open enclawed-oss distribution and the enclaved flavor), generalizes: the gap that makes an unmediated third-party connection unsafe for one user makes a regulated deployment impossible to accredit. We close it with...

论文介绍 模型上下文协议在 LLM 代理与外部工具交互时缺乏信任机制。本文提出 mcp-attested 安全扩展,通过认证工具服务器和限制其可用工具,增强 MCP 的安全性。该机制无需修改现有协议或 API,可广泛应用于安全敏感的部署场景。

Deep-Research Agents Can Be Poisoned via User-Generated Content

第一作者: Tingwei Zhang · 方向: 网络安全

Deep-research agents, i.e., systems that rely on multi-agent pipelines to iteratively retrieve, synthesize, and cite Web content in order to produce structured reports, are rapidly replacing traditional search for both routine and complex information needs. These agents issue many related queries during a single research session. We show that for many common search topics, they repeatedly retrieve the same user-generated content (UGC) pages from platforms such as Reddit and Wikipedia. Next, we argue that this retrieval overlap creates a concentrated attack surface: an adversary who appends a short, crafted text to a single, frequently retrieved UGC page can cause the agent to cite attacker-chosen content and promote attacker-chosen entities across many related queries. We evaluate this attack on three representative deep-research systems (STORM, Co-STORM, and OmniThink) across multiple...

论文介绍 深度研究代理依赖多代理管道检索和综合网络内容,但容易受用户生成内容的投毒攻击。研究显示,攻击者可在频繁检索的用户生成页面注入文本,导致代理引用错误内容。该攻击在多个系统上进行了评估,揭示了现有系统的安全漏洞。

Unlocking Apple's Private Cloud Compute: An Analysis of Privacy-Preserving Artificial Intelligence

第一作者: Yannik Dittmar · 方向: AI 安全

Many existing Artificial Intelligence (AI) solutions on mobile devices rely on an extensive collection of sensitive data, raising privacy concerns and often requiring storage for both context and model improvement. Apple's Private Cloud Compute (PCC) aims to address this by emphasizing mobile device integration and a privacy-first design. The central claim of PCC is that it does not store any user data and that user input and user accounts are unlinkable. While most of the PCC system specifications are public, compiled binaries add a layer of opaqueness. There are no reproducible builds, and there are no symbols within those binaries, creating potential discrepancies between the specification and what is shipped to the user. Additionally, the underlying models and interfaces for querying PCC are not openly accessible, limiting academic evaluation of model properties, such as accuracy...

论文介绍 本文分析 Apple 的私有云计算系统,该系统声称不存储用户数据且输入与账户不可链接。但系统规范和二进制文件之间的不透明性限制了学术评估。研究探讨了隐私保护设计的可信度和潜在挑战。

FALCON-C: Flow-based Analysis and Labeling for Connected Vehicular Network Cybersecurity

第一作者: Joshua Bean · 方向: 网络安全

Abstract:Along with the recent rise in popularity of Electric Vehicles (EVs), Electric Vehicle Supply Equipment (EVSE) has emerged as a new target for cyber attacks. Therefore, ensuring the security and integrity of network communication between EVSE components and vehicular clients is a significant challenge that must be addressed. To this end, this paper proposes a Flow-based Analysis and Labeling for COnnected vehicular Network Cybersecurity (FALCON-C) framework. The FALCON-C framework leverages an autoencoder for anomaly detection and is trained on a small number of benign flows from the CICEVSE2024 dataset. The model's objective is to model benign flow behavior and identify malicious flows by detecting statistically different reconstruction error profiles. The results demonstrate that the model can successfully identify malicious flows, achieving 100% accuracy. Initially, some...

论文介绍 随着电动汽车的普及,其充电基础设施面临网络安全威胁。本文提出 FALCON-C 框架,使用基于流的分析和自编码器进行异常检测。该框架在数据集上训练,能有效识别恶意网络流,提升车辆网络通信安全。

Cybersecurity of Electric Vehicle Charging Infrastructure: Recent Advances, Open Challenges, and Future Directions

第一作者: Joshua Bean · 方向: AI 安全

Abstract:Electric Vehicles (EVs) have emerged as significant disruptors in the transportation sector over the past decade. Their growing popularity and adoption are accompanied by capital expenditures to deploy charging infrastructure. EV charging infrastructure sits at the intersection of the power grid, the network, and the vehicular client, creating an attractive surface for cyberattacks. Many machine learning-based cybersecurity countermeasures have been developed using various public and private datasets. These countermeasures, often intrusion detection systems, are limited in performance by the quality and expressivity of the training data. This work explores the most common datasets and modeling methods, identifies key limitations and open challenges, and proposes future directions to continue catalyzing innovation in the field. By addressing these data limitations, intrusion...

论文介绍 本文综述电动汽车充电基础设施的网络安全现状,讨论常见数据集和机器学习建模方法,指出当前数据限制和挑战。研究提出未来方向,以促进该领域的创新和防御能力提升。

When the Manual Lies: A Realistic Benchmark to Evaluate MCP Poisoning Attacks for LLM Agents

第一作者: Shi Liu · 方向: 密码学协议

Abstract:The rise of tool-using Large Language Model (LLM) agents, standardized by protocols like the Model Context Protocol (MCP), has unlocked unprecedented autonomous execution capabilities for LLM Agents by integrating external open-domain knowledge and tools. However, this interoperability introduces a covert attack surface targeting the agent's cognitive planning layer. This paper systematically investigates Tool Description Poisoning (TDP), a novel semantic attack. In TDP, malicious instructions are not embedded in a tool's executable code, but rather covertly injected into its descriptive metadata, the very "manual" an agent relies on for secure planning and decision-making. To rigorously and systematically evaluate this emerging threat, we introduce the MCP-TDP Security Benchmark. This high-fidelity sandbox environment comprises 32 realistic, real-world test cases spanning 6...

论文介绍 工具使用 LLM 代理通过 MCP 集成外部工具,但工具描述可能被注入恶意指令。本文研究工具描述投毒攻击,并引入 MCP-TDP 安全基准,包含现实测试用例,以系统评估这种语义攻击的威胁。

Microbenchmarking Cloud Cryptographic Workloads for Privacy-Preserving Healthcare IoT

第一作者: Jeremiah L. Webb · 方向: 密码学协议

Abstract:Cryptographic operations are an essential component of cloud security architectures; their comprehensive performance characterization across different cloud services, hardware architectures, and programming language implementations remains unknown. Specifically, healthcare IoT devices are highly vulnerable and frequently targeted, yet the cryptographic performance trade offs in their cloud security architectures remain poorly understood. This research presents an extensive microbenchmark study evaluating the performance of core cryptographic workloads, including SHA HMAC generation, AES encryption, decryption, Elliptic Curve Cryptography (ECC) signature generation and verification, and RSA encryption, decryption, across Function as a Service (FaaS) integrated with Key Management Services (KMS) from Amazon Web Services (AWS) and Microsoft Azure. We evaluate FaaS platforms using...

论文介绍 该研究针对云环境下医疗物联网(IoT)密码方案性能评估不足的问题,对AWS和Azure集成的函数即服务(FaaS)平台中核心密码工作负载(如SHA-HMAC、AES、ECC、RSA)进行了详尽的微基准测试。研究重点评估了不同云服务、硬件和语言实现下的性能权衡,旨在为设计隐私保护的医疗IoT云安全架构提供性能特征依据。

Verifiable Secure Aggregation via Dual Servers with Linear Tags in Federated Learning

第一作者: Yufei Zhou · 方向: 隐私保护

Abstract:Federated learning (FL) enables collaborative model training by aggregating local updates without requiring raw data sharing. However, prior studies have shown that servers can exploit gradient inversion to compromise user privacy or manipulate aggregation results, undermining the utility of the global model. To address these concerns, we propose a secure and verifiable aggregation scheme with lightweight cryptographic primitives for FL. Our method leverages pseudo-random functions (PRFs) and a non-colluding dual-server architecture to achieve secure aggregation with mutual server verification, while maintaining communication overhead comparable to plaintext aggregation and a constant verification tag size. Crucially, it preserves user privacy and achieves end-to-end secure aggregation with verification. Moreover, our scheme significantly reduces both user computation and...

论文介绍 针对联邦学习中服务器可能通过梯度反转侵犯用户隐私或操纵聚合结果的问题,本文提出了一种轻量级的安全可验证聚合方案。该方案利用伪随机函数(PRFs)和非共谋的双服务器架构,在通信开销与明文聚合相当的同时,实现了端到端的安全聚合与服务器间的相互验证,有效保护了用户隐私并显著降低了计算成本。

How Agentic AI Coding Assistants Become the Attacker's Shell

第一作者: Yue Liu · 方向: AI 安全

Abstract:Agentic AI coding assistants can edit files, run commands, and access the internet on behalf of developers. However, their reliance on unvetted external artifacts introduces a new attack vector. Hidden instructions in external artifacts can hijack these assistants, turning them into an attacker's shell to run unauthorized commands. In this article, we examine how these prompt injection attacks work, measure their prevalence, discuss the limitations and challenges of current defenses, and suggest future research directions.

论文介绍 本文探讨了具有代理能力的AI代码助手所面临的新安全风险。这些助手可代表开发者编辑文件、运行命令和访问网络,但其对外部未经审查工件的依赖引入了攻击面。研究展示了外部工件中的隐藏指令如何通过提示注入劫持这些助手,使其沦为攻击者的「Shell」以执行非授权命令,分析了此类攻击的运作方式、普遍性及防御挑战。

On Reliability of Efficient Membership Inference Vulnerability Evaluation

第一作者: Joonas Jälkö · 方向: 软件安全

Membership inference attacks (MIAs) are popular methods for empirically assessing the leakage of sensitive information in the training data through models or statistics learned from the data. The MIA vulnerability is often evaluated through false positive rate (FPR) and true positive rate (TPR) of a binary classifier that tries to predict whether a particular sample was in the training data. However, in order to reliably estimate the TPR especially for low FPR values, a lot of observations are needed, which in case of MIA translates to many target models, leading to large computational cost. To avoid excessive compute requirements, the MIA scores are often averaged over multiple individuals and multiple targeted models. We demonstrate two key weaknesses in this efficient MIA evaluation pipeline. First, we show that evaluating the TPR based on MIA scores concatenated across multiple...

论文介绍 成员推理攻击(MIA)是评估模型训练数据隐私泄露的常用方法,但其可靠性评估,尤其是在低误报率下,通常需要大量计算。为降低成本,评估中常对MIA分数进行平均。本文揭示了这种高效评估流程的两个关键弱点:首先,跨个体和模型平均分数会扭曲评估结果;其次,这些方法可能无法准确反映真实威胁。

The Privacy Subsidy in Continuous-Time Kyle: Cumulative Welfare under Noise-Perturbed Order-Flow Observation

第一作者: Yuki Nakamura · 方向: 密码学协议

We extend the closed-form privacy-subsidy result of Nakamura~(2026, arXiv:2605.15746) from the single-period Kyle model to continuous-time. A committed Bayesian automated market maker observes the aggregate order flow perturbed by an independent Brownian privacy channel of diffusion intensity $σ_\varepsilon$. Under the Markovian linear equilibrium, the price-impact coefficient is $λ= σ_v / \sqrt{σ_u^2 + σ_\varepsilon^2}$ -- constant in time -- and the cumulative expected transfer from the protocol's liquidity pool to traders over $[0,1]$ is $|Π_M| = σ_v σ_\varepsilon^2 / \sqrt{σ_u^2 + σ_\varepsilon^2}$. We then establish a structural duality between this cumulative privacy subsidy and Loss-Versus-Rebalancing (Milionis et al.~2022), identifying privacy-noise welfare as the order-flow observation analog of LVR's price observation gap. The result completes the program of quantifying...

论文介绍 本文将隐私补贴的结果从单期Kyle模型扩展到了连续时间情形。研究了一个贝叶斯自动做市商,它观察到被独立布朗运动隐私通道扰动后的聚合订单流。在马尔可夫线性均衡下,推导了价格影响系数和流动性池向交易者的累计期望转移,揭示了隐私噪声福利与「再平衡损失」在订单流观察维度上的结构性对偶关系。

TIP: A Decentralized Intent-Based Protocol for Declarative IoT Interoperability and Sandboxed Schema Adaptation

第一作者: Yeison David Mejia Mosquera · 方向: 密码学协议

Abstract:Heterogeneous Internet of Things (IoT) systems suffer from fragmentation across hardware architectures, networking stacks, and data serialization formats. Existing standards (such as MQTT, COAP, and DDS) rely on address-bound, imperative routing models that require hardcoded configurations and leave no flexibility for runtime schema translation. This paper presents TIP (The Intent Protocol), a decentralized, declarative network protocol. Instead of addressing specific physical endpoints, nodes submit abstract intents specifying desired capabilities, schemas, and Quality of Service (QoS) constraints. The TIP Engine resolves matching nodes using a hybrid discovery mechanism combining local multicast DNS (mDNS) with Kademlia Distributed Hash Tables (DHT). Selection is optimized via a multi-criteria scoring algorithm incorporating network latency, historical reputation, and...

论文介绍 针对异构物联网系统因硬件、网络和数据格式碎片化导致的互操作性问题,本文提出了TIP(意图协议)。该去中心化、声明式的网络协议允许节点提交抽象「意图」(指定所需能力、模式与QoS约束),而非直接寻址。TIP引擎结合mDNS与Kademlia DHT进行节点发现与匹配,并通过沙盒化模式适配实现运行时灵活翻译,提升了系统间的语义互操作性。

When Interpretability Becomes a Liability: Adversarial Attacks on CBM Concept Layers

第一作者: Aditya Sridhar · 方向: AI 安全

Abstract:Concept Bottleneck Models (CBMs) have emerged as a cornerstone approach for interpretable machine learning, providing human-understandable intermediate representations through explicit concept activations. However, this interpretability fundamentally introduces a critical, previously unexplored attack surface: the concept bottleneck layer itself. We present a comprehensive, systematic study of concept-level adversarial vulnerabilities in CBMs, revealing that targeted, minimal perturbations operating on input pixels can induce catastrophic misclassification by manipulating semantic representations. We develop a rigorous theoretical framework to quantify concept-space robustness, establishing novel metrics that expose the vulnerability landscape of these architectures. Our extensive analysis on the CUB-200-2011 dataset demonstrates that standard CBMs exhibit severe...

论文介绍 概念瓶颈模型(CBM)通过显式的概念激活提供可解释性,但这种透明性也引入了新的攻击面。本文系统研究了CBM概念层的对抗性漏洞,表明对输入像素的微小定向扰动能通过操纵语义表征导致灾难性误分类。研究建立了理论框架来量化概念空间的鲁棒性,并在CUB-200-2011数据集上验证了标准CBM存在严重脆弱性。

QML-PipeGuard: Drift-Aware Behavioral Fingerprinting for Quantum Machine Learning Pipeline Integrity

第一作者: Esra Yeniaras · 方向: AI 安全

Abstract:Quantum machine learning (QML) is moving from research prototypes to deployed cloud services. As QML enters regulated industries, the integrity of the quantum stage becomes a practical concern on two fronts: noisy hardware drifts at the channel level between recalibrations, and an adversary with control over the execution environment can substitute the declared quantum channel with a behaviorally similar but mathematically distinct one. Neither concern is covered by existing QML verification work on pulse-level noise, input drift, input-perturbation robustness, or device identity. We introduce QML-PipeGuard, a contract-based framework addressing both concerns under a single mathematical machinery. It characterizes a QML pipeline at runtime by its behavioral fingerprint, the vector of observable expectation values under a tomographically structured measurement family, and...

论文介绍 随着量子机器学习(QML)走向云服务部署,其量子阶段的完整性面临硬件噪声漂移和对手篡改通道的双重威胁。现有验证工作未涵盖这些场景。本文提出QML-PipeGuard框架,通过在运行时对QML管道进行「行为指纹」刻画(即在特定测量族下的可观测期望值向量),在统一数学框架下同时检测因硬件校准间隔导致的通道漂移和行为相似的恶意通道替换。

Inverting the Shield: Systematically Generating Safety Tests from Policy Specifications

第一作者: Xiaoyue Lu · 方向: 软件安全

The widespread integration of Large Language Models (LLMs) necessitates rigorous and systematic safety evaluation. Existing paradigms either rely on constructed benchmarks to assess safety from predefined perspectives, or employ dynamic red-teaming to probe potential vulnerabilities. While effective, these approaches face challenges, as they depend heavily on expert domain knowledge, offer limited systematic guarantees, and are vulnerable to rapid obsolescence. To address these limitations, we introduce a novel framework POLARIS that brings the rigor of specification-based software testing to AI safety. POLARIS first compiles unstructured natural-language policies into First-Order Logic (FOL) representations, establishing a traceable link between high-level rules and concrete test cases. This formalization enables the construction of a Semantic Policy Graph, where complex policy...

论文介绍 该研究针对大语言模型安全评估依赖人工或动态测试方法的局限,提出了一个名为POLARIS的新框架。它通过将非结构化的自然语言安全策略自动编译为一阶逻辑表示,构建语义策略图,从而系统化地生成测试用例。该方法旨在提升AI安全测试的系统性、可追溯性和可维护性。

Modernizing User Privacy Preference Measurement through GPPI: A GDPR-aligned Privacy Preference Item Bank

第一作者: Yahya Hmaiti · 方向: 隐私保护

Abstract:Privacy measurement instruments (e.g., CFIP, IUIPC, PAQ) predate GDPR by over a decade and measure privacy concerns, distinct from preferences for regulatory protections (e.g., data portability, erasure, automated decision-making rights). This leaves practitioners without tools to assess whether users value the GDPR mechanisms implemented in compliant policies. We developed a GDPR-grounded privacy preference measurement item bank by extracting 669 statements from all 99 GDPR articles, validated by: (1) two-round expert review achieving full consensus on accuracy, (2) semantic clustering into 10 parent themes and 87 subthemes, and (3) consensus review with 50 privacy experts (5 per theme) using a larger or equal than 4/5 vote retention threshold. The final 527-item bank comprises 9 parent themes and 73 subthemes (18 to 112 items per parent theme, 1 to 29 per subtheme), enabling...

论文介绍 现有隐私测量工具多关注隐私担忧,而非用户对具体法规保护机制的偏好。本文基于GDPR全文构建了一个包含527个项目的隐私偏好测量题库,并通过专家评审和语义聚类进行验证。该工具旨在填补空白,帮助从业者评估用户对GDPR所规定权利(如数据删除权)的实际重视程度。

Safety-Oriented Routing Analysis of Mixtral MoE Under Benign and Harmful Prompts

第一作者: Md Nurul Absar Siddiky · 方向: 网络安全

Abstract:Sparse mixture-of-experts (MoE) language models activate only a small subset of parameters for each token, making router behavior a central part of model computation. This paper studies routing behavior of Mixtral 8x7B-Instruct under benign and harmful prompts using two complementary signals: activation-based routing scores derived from expert selection frequencies and gradient-based scores derived from router-gate sensitivities. We analyze expert- and layer-level routing behavior and conduct expert-suppression interventions. The results show that activation-based expert usage is broad and long-tailed, whereas gradient-based importance is concentrated. At expert level, benign and harmful prompt groups remain close under both signals with modest separation. At layer level, activation-based routing is most selective around layers 8-15, while gradient-based importance is...

论文介绍 本文研究了稀疏混合专家模型Mixtral在处理良性与有害提示时的路由行为。通过基于激活频率和基于梯度的两种信号进行分析,发现专家使用分布广泛,而梯度重要性集中;在层级别上,两种信号的路由选择性存在差异。研究还进行了专家抑制实验,为理解模型内部安全机制提供了见解。

Agent-ToM: Learning to Monitor Autonomous LLM Agents via Theory-of-Mind Reasoning

第一作者: Nesreen K. Ahmed · 方向: AI 安全

Abstract:Monitoring autonomous large language model (LLM) agents for covert malicious behavior is challenging due to delayed, context-dependent, and long-horizon attack patterns. Agents may pursue hidden objectives while maintaining superficially benign behavior, making detection difficult even with full trajectory access. Prior monitoring approaches improve scaffolding or ensemble aggregation, but treat each trajectory independently and do not learn from prior monitoring experience. Moreover, standard reasoning methods explain observed behavior without explicitly reasoning about agent beliefs, intentions, and goal alignment required to distinguish benign task execution from covert deviation. We propose \textbf{Agent-ToM}, a learning-to-monitor framework grounded in Theory-of-Mind (ToM) reasoning for security analysis of autonomous agents. Agent-ToM performs structured full-trajectory...

论文介绍 监控自主大语言模型智能体的隐蔽恶意行为极具挑战性。本文提出了Agent-ToM,一个基于心智理论推理的学习型监控框架。它通过结构化分析智能体的完整轨迹,推理其信念、意图和目标一致性,从而区分良性任务执行与隐蔽偏离,旨在提升对长期复杂交互中安全风险的检测能力。

Extracting Training Data from Diffusion Language Models via Infilling

第一作者: Yihan Wang · 方向: 密码学协议

Abstract:Memorization in large language models has been studied almost exclusively through prefix-conditioned extraction, a natural choice for autoregressive models. However, diffusion language models (DLMs) can denoise masked tokens at arbitrary positions. Thus, prefix-only probing reveals only one facet of memorization in DLMs and significantly underestimates the risk of training-data extraction. In order to realistically model extractability of training data in DLMs, we introduce \emph{infilling extraction}, a data-extraction protocol parameterized by an arbitrary binary mask that subsumes prefix-only probing and accounts for the bidirectional inductive bias of DLMs. Instantiating it on LLaDA-8B and Dream-7B across five extraction modes, three training pipelines, and three corpora covering verbatim and partial leakage, we find that mask geometry governs extractability...

论文介绍 针对扩散语言模型,传统的前缀条件提取方法可能低估了训练数据泄露风险。本文引入了「填充提取」协议,通过任意二进制掩码来提取数据,以利用模型双向上下文的特性。实验证明,掩码的几何形状是决定数据可提取性的关键因素,揭示了扩散语言模型中更全面的记忆化风险。

Optimal Quantum Differential Privacy via Fisher Information Spectral Analysis

第一作者: Justice Owusu Agyemang · 方向: 系统安全

Abstract:The Quantum Fisher Information (QFI) metric governs a fundamental duality: it quantifies both how precisely a parameter can be estimated (metrology) and how distinguishable two quantum states are (privacy). We exploit this duality to establish a geometry-aware framework for quantum differential privacy (DP) that replaces isotropic depolarizing noise with direction-dependent noise aligned to the QFI eigenstructure of the quantum embedding. We prove six principal theorems: (1) the minimax-optimal mechanism concentrates the noise budget in the dominant QFI eigenmode, achieving $\varepsilon = (\Delta^2/2)\lambda_{\max}(1-c\gamma)$ with $O(d/\lambda_{\max})$ advantage; (2) mixed-state QFI decomposition reveals that dephasing in the adversary's basis $\textit{increases}$ accessible information, while misaligned-basis dephasing provides constructive privacy amplification from...

论文介绍 本文利用量子Fisher信息在参数估计与状态可区分性之间的对偶关系,构建了一个几何感知的量子差分隐私框架。它证明了最优机制是将噪声预算集中于QFI的主特征模式,并分析了去相位噪声对隐私的影响。该理论为设计更高效的、与数据结构对齐的量子隐私保护机制提供了新思路。

Towards trustworthy agentic AI: a comprehensive survey of safety, robustness, privacy, and system security

第一作者: Jinhu Qi · 方向: 系统安全

Abstract:Agentic AI systems -- Large Language Models (LLMs) augmented with planning, tool use, memory, and long-horizon interactions -- can execute complex tasks autonomously, but their multi-step trajectories introduce new failure modes that challenge trustworthiness. This survey provides a focused examination of trustworthy agentic AI through two core dimensions that are critical for high-risk deployments: Safety and Robustness, and Privacy and System Security. For each dimension, we clarify key concepts, identify where risks emerge along the agent workflow, and summarize stage-targeted mitigation strategies. Other trustworthiness aspects (value alignment, transparency, fairness, and accountability) are discussed as relevant context rather than parallel chapters. To support consistent comparison and deployment decisions, we consolidate evaluation into a unified metrics-and-benchmarks...

论文介绍 这篇综述聚焦于可信赖智能体AI系统的两大核心维度:安全与鲁棒性、隐私与系统安全。文章系统梳理了智能体工作流各阶段(规划、工具使用、记忆等)出现的风险,并总结了针对性的缓解策略。它旨在提供一个统一的风险分类和评估框架,以支持高风险部署下的决策。

When Search Becomes Memory: Turning Robot Design Trials into Transferable Skills

第一作者: Yunfei Wang · 方向: 导航与运动 · 来源: cs.RO

Abstract:Large language models (LLMs) are increasingly used as proposal generators for evolutionary robot design, yet most loops remain memoryless: simulator results shape the next population but are not preserved as reusable design knowledge. We present Auto-Robotist, a self-evolving LLM agent that distills morphology-search traces into an explicit natural-language skill library. Each skill stores a structural archetype, evidence-grounded positive and negative rules, and the evaluated designs that support them, making design memory inspectable rather than implicit in a population. During search, the agent retrieves skills to condition LLM edits of elite bodies while retaining a Genetic Algorithm (GA) mutation path for exploration; after evaluation, it updates the library through Add, Diagnose, and Merge. Across seven EvoGym tasks spanning locomotion, traversal, and object interaction...

论文介绍 针对机器人形态设计搜索过程通常是无记忆的问题,本文提出了Auto-Robotist系统。该系统利用大语言模型作为自进化智能体,将形态搜索的轨迹提炼为可检索、可编辑的自然语言技能库。在设计搜索中,技能库用于指导进化算法,从而将隐式的搜索经验转化为显式、可转移的设计知识,提升了设计效率。

OASIS: Observation-Action Space Alignment via SE(3) Trajectory Prediction for Robotic Manipulation

第一作者: Xinzhe Chen · 方向: VLA 通用模型 · 来源: cs.RO

Abstract:Recent vision-language-action (VLA) models and world action models (WAMs) advance robotic manipulation by enriching intermediate representations with auxiliary spatial features or future visual-state prediction. However, these representations largely remain within the observation space and do not share the rigid-body geometry of the action space, forcing the action decoder to implicitly recover this geometry. We propose OASIS, a visuomotor policy that aligns the intermediate representation with the action space via $SE(3)$ end-effector trajectory prediction. OASIS couples a 3D-aware feature encoder that fuses vision-language and metric-depth features with an $SE(3)$ trajectory predictor that produces a camera-frame end-effector trajectory. Conditioned on the predictor's pose-supervised hidden states, the action decoder generates action chunks consistent with rigid-body motion...

论文介绍 这篇论文针对机器人操作中视觉语言动作模型中间表示与动作空间不对齐的问题。现有方法的中间表示多局限于观察空间,未共享动作空间的刚体几何特性。论文提出OASIS视觉运动策略,通过SE(3)末端执行器轨迹预测来对齐中间表示与动作空间。该系统耦合了3D感知特征编码器和轨迹预测器,使动作解码器能生成符合刚体运动的动作块。

ParkourFormer: Integrating Predictive Supervision and Sequence Modeling into Parkour Locomotion

第一作者: Yanheng Mai · 方向: 导航与运动 · 来源: cs.RO

Abstract:Humanoid parkour requires locomotion policies to coordinate whole-body dynamics across rapidly changing terrains such as stairs, gaps, slopes, and obstacles. Existing reinforcement learning policies are largely reactive, mapping observations directly to actions without explicitly modeling future body states. Such modeling becomes critical in agile locomotion tasks where successful motion execution depends strongly on anticipating upcoming contact transitions and body this http URL present ParkourFormer, a Transformer-based sequence modeling framework that reformulates humanoid locomotion as a future-conditioned decision-making problem. The current robot state queries historical sensorimotor trajectories through cross-attention, while a lightweight prediction head forecasts short-horizon future proprioceptive states. The predicted future states, trained with supervised signals...

论文介绍 这篇论文研究人形机器人在复杂地形(如楼梯、间隙、斜坡)上的跑酷运动策略。现有强化学习策略多为反应式,缺乏对未来状态的显式建模,这在敏捷运动中至关重要。论文提出ParkourFormer,一种基于Transformer的序列建模框架,将人形运动重构为未来条件决策问题。系统通过交叉注意力查询历史轨迹,并预测短期未来本体感知状态,以增强运动决策的预见性。

Implicit Null-space Manifold Generation for Redundant Robotic Systems

第一作者: Taiki Ishigaki · 方向: 具身智能 · 来源: cs.RO

Abstract:Robotic systems with redundant degrees of freedom can achieve the same task outcome using multiple configurations, resulting in solution sets that form manifolds in the configuration space. Existing approaches typically exploit such redundancy locally through Jacobian-based techniques to compute individual solutions or trajectories. While effective for solution computation, these methods do not retain a representation of the geometry of the solution set itself. In this work, we adopt a representation-centric approach to estimate the geometric structure of the solution space. We consider solution manifolds induced by general task-defining maps and construct an implicit scalar field over the configuration space, whose zero-level set corresponds to the solution manifold. To this end, we generate samples in the neighborhood of the solution manifold using a Jacobian-guided...

论文介绍 这篇论文研究冗余自由度机器人系统的解空间流形生成问题。对于给定任务,冗余系统存在多种构型解,构成构型空间中的流形。现有雅可比方法能计算个体解,但不保留解集的几何结构表示。论文采用表示中心方法,通过构造配置空间上的隐式标量场来估计解流形的几何结构,其零水平集对应于解流形。系统使用雅可比引导采样在流形邻域生成样本进行训练。

HumanFlow -- Diffusion-Driven MAV Navigation Among Humans via Tightly-Coupled Motion Tracking, Forecasting, and Control

第一作者: Simon Schaefer · 方向: 导航与运动 · 来源: cs.RO

Abstract:Robust and accurate perception of humans in their 3D scene context is essential for integrating robots into everyday environments. Existing approaches, however, often fail to predict plausible and accurate human motion estimates that are consistent with the surrounding scene, especially in the presence of heavy occlusions or partial visibility. This can limit both safety and efficiency for robotic operations. We introduce HumanFlow, a latent diffusion model that unifies human motion tracking and forecasting, conditioned on the 3D scene context. We show that our human motion model produces smooth and accurate predictions under challenging conditions, including heavy occlusions, and outperforms state-of-the-art methods in tracking accuracy while being significantly more efficient. Furthermore, we show how HumanFlow's latent space can be tightly coupled with control by...

论文介绍 这篇论文研究机器人在人类活动环境中导航时,对人体运动的感知与预测问题。现有方法在严重遮挡或部分可见时,难以产生准确且与场景一致的人体运动预测,影响安全性与效率。论文提出HumanFlow,一个潜在扩散模型,将人体运动跟踪和预测统一起来,并以3D场景上下文为条件。该模型在挑战性条件下能产生平滑准确的预测,并与控制紧密耦合。

Compliant Non-Prehensile Pushing Manipulation

第一作者: Francesco Cufino · 方向: 机器人操作 · 来源: cs.RO

Abstract:In this paper, we address the challenge of performing non-prehensile pushing operations with a compliant robotic manipulation system. To ensure safe operations in human-populated environments, robots must comply with external physical interactions and exhibit passive behavior. To achieve this, we extend a state-of-the-art pushing model to integrate it with impedance-controlled robots. We develop a model predictive control framework built upon this model that enables compliant pushing through optimal modulation of the robot's position/velocity set-point, jointly realizing the required pushing force and contact point adaptation to obtain desired object motion. However, external interactions may induce tracking errors, causing a consequent potentially indefinite increase of the pushing force. To prevent this, we integrate an energy tank passivity filter that further modulates the...

论文介绍 这篇论文研究柔顺机器人系统的非抓取推动操作挑战。在人机共存环境中,机器人需对外部交互保持被动行为,以确保安全。论文将先进推动模型与阻抗控制相结合,开发了基于模型预测控制的框架,通过调制机器人位置/速度设定点来实现柔顺推动。系统还集成了能量罐无源性滤波器,以防止因外部交互导致的推力无限增长,提升了操作的鲁棒性。

G-DRAGON: Geospatial Reasoning and Dynamic Planning for Retrieval-Augmented Outdoor Navigation

第一作者: Dongzhihan Wang · 方向: 导航与运动 · 来源: cs.RO

Abstract:Autonomous ground robots operating in large-scale outdoor environments require both robust long-range navigation and fine-grained ''last-mile'' exploration. Current advances in visual-language navigation (VLN) work well at short-range tasks, lacking geospatial grounding for long-distance missions. Some OpenStreetMap (OSM)-based methods relying on cloud-based Large Language Models (LLMs) are prone to factual hallucination and cannot conduct ''last-mile'' exploration based on human instruction. To address these challenges, we present G-DRAGON, a retrieval-augmented framework for outdoor, open-world navigation. This framework maps natural-language commands to versioned, local OSM entities via generative retrieval based on lightweight LLM, yielding accurate coordinates for global route planning. A high-level planning module bridges global topological routes with the SLAM system...

论文介绍 这篇论文研究大规模户外环境中自主机器人的导航问题,既需要鲁棒的远距离导航,也需要细粒度的最后一公里探索。现有视觉语言导航在短距离任务表现良好,但缺乏长距离任务所需的地理空间接地能力。论文提出G-DRAGON检索增强框架,通过基于轻量级LLM的生成式检索,将自然语言命令映射到版本化OSM实体以获取精确坐标进行全局路线规划,并结合SLAM系统进行指令导向的最后一公里探索。

Acting on the Unseen: Communication-Free Collaborative Filtering for Decentralized Multi-Robot Task Allocation

第一作者: Alexander Apartsin · 方向: 具身智能 · 来源: cs.RO

Abstract:Multi-robot task allocation usually assumes some combination of communication, known task models, or a coordinator. We study the opposite extreme, a regime common in practice but overlooked in theory, which we name Zero-Knowledge MRTA (ZK-MRTA): a robot team with no prior knowledge (no task models, not even the latent rank), no communication (no messages, no parameter sharing, no coordinator), and only a partial and privately-noisy view of a public stream of teammates' outcomes. A hidden low-rank structure governs which robot suits which task, and there are far more tasks than rounds, so most (robot, task) pairs are never attempted. Yet each robot can act well on tasks it never attempted, and onboard new tasks, by running online low-rank collaborative filtering over the broadcast (SwarmCF). The advantage over any structure-free learner is categorical, not a constant factor: a...

论文介绍 这篇论文研究极端条件下的多机器人任务分配问题,称为零知识多机器人任务分配。该设置下机器人团队无先验知识、无通信,仅能观察一个关于队友结果的部分噪声公共流。论文提出SwarmCF方法,通过在线低秩协同过滤从广播流中学习隐含的低秩结构,使机器人能对未尝试的任务或新任务做出良好决策,展示了在无结构学习器之上的分类优势。

TapSampling: Inference-Time Sampling with a Task-Progress-Understanding Verifier for Robotic Manipulation

第一作者: Sizhe Zhao · 方向: 机器人操作 · 来源: cs.RO

Abstract:Existing embodied control research demonstrates remarkable performance improvements by scaling training data and model size. We instead explore inference-time strategy as an alternative axis. Non-deterministic generative models, such as diffusion and autoregressive models, have been widely adopted in the field of embodied control. However, the single-shot inference paradigm limits their performance. In this paper, we propose \textbf{TapSampling}, a plug-and-play framework for inference-time sampling. First, we introduce an Action-VAE that represents actions in a low-dimensional latent space by mapping policy-generated initial actions into a compressed posterior distribution, from which any number of latent samples can be drawn and decoded into candidate actions that approximate the true action distribution. Second, we formulate action verification as task-progress outcome...

论文介绍 这篇论文探索机器人操作中的推理时策略,作为提升性能的替代方向。非确定性生成模型(如扩散模型)的单次推理范式限制了其性能。论文提出TapSampling插件式框架,引入Action-VAE将策略生成的初始动作映射到低维潜在空间的压缩后验分布,从中可采样任意数量的潜在样本并解码为候选动作。系统将动作验证表述为任务进展结果预测问题,以选择最优动作执行。

Safety-Critical Whole-Body Control for Humanoid Robots via Input-to-State Safe Control Barrier Functions

第一作者: Kwanwoo Lee · 方向: 导航与运动 · 来源: cs.RO

Abstract:Safety-critical control is essential for humanoid robots operating in complex human-centered environments, where physical safety constraints such as joint limits, self-collision avoidance, obstacle avoidance, and workspace boundaries must be satisfied during real-robot operation. However, existing approaches remain limited because kinematic safety guarantees can be degraded in the presence of unknown disturbances, such as model uncertainties, trajectory-tracking errors, and external perturbations. This paper presents a hierarchical safety-critical whole-body control framework for humanoid robots based on input-to-state safe control barrier functions (ISSf-CBFs). The proposed architecture integrates a kinematic-level whole-body controller (KinWBC), an ISSf-CBF safety filter, and a dynamic-level whole-body controller (DynWBC). KinWBC generates nominal joint-motion references...

论文介绍 本文针对人形机器人在复杂人类环境中的安全全身控制问题,提出了一种分层框架。该框架集成了运动学全身控制器、输入到状态安全控制屏障函数(ISSf-CBF)安全滤波器和动力学全身控制器,旨在模型不确定性、轨迹跟踪误差及外部扰动等未知干扰下,保证关节极限、避碰等物理安全约束得到满足,提升系统在实际运行中的鲁棒性。

RepSAM: Bridging Foundation Models to Robotic Vision via Representation-Guided Adaptation

第一作者: Wenhui Chu · 方向: 机器人操作 · 来源: cs.RO

Abstract:Robotic perception in unstructured environments remains challenging despite the zero-shot capabilities of foundation models such as SAM. This work attributes performance degradation to non-uniform representation shifts across transformer layers: shallow layers exhibit substantial domain gaps (CKA < 0.5), whereas deep layers transfer effectively (CKA > 0.7). Based on this observation, we propose RepSAM, a representation-guided parameter-efficient fine-tuning (PEFT) framework for adapting foundation models to robotic vision. RepSAM employs a theoretically grounded CKA-guided rank allocation strategy combined with a multi-modal fusion module for robust handling of challenging robotic scenarios, including transparent objects and cluttered scenes. Experimental evaluation across six benchmarks and robotic manipulation tasks demonstrates that RepSAM achieves 97.9% of full fine-tuning...

论文介绍 本文研究如何将基础模型(如SAM)的零样本能力有效迁移至机器人视觉任务。研究发现Transformer网络中存在分层的表示偏移,浅层领域差距大而深层迁移效果好。基于此,提出了RepSAM,一种基于表示引导的参数高效微调框架,采用CKA引导的秩分配策略与多模态融合模块,在透明物体、杂乱场景等机器人挑战性场景中实现了接近全参数微调的性能。

EXPO-FT: Sample-Efficient Reinforcement Learning Finetuning for Vision-Language-Action Models

第一作者: Perry Dong · 方向: VLA 通用模型 · 来源: cs.RO

Abstract:The ability to efficiently and reliably learn new tasks has been a foundational challenge in robotics. Vision-Language-Action (VLA) models have demonstrated strong generalization across diverse manipulation tasks, yet pretrained policies consistently fall short of the reliability required for real-world deployment. Reinforcement learning (RL) fine-tuning offers a promising path to bridge this gap, but existing approaches either train from scratch without fully leveraging pretrained priors, or fine-tune VLAs without achieving the sample efficiency and success rates that practical deployment demands. We present EXPO-FT, a system for stable, sample-efficient RL finetuning of pretrained VLA policies that closes this gap. Our system solves a suite of challenging manipulation tasks, including routing string lights and inserting the plug to light it up, striking a pool ball into a...

论文介绍 预训练的视觉语言动作(VLA)模型虽具泛化能力,但其可靠性常难以满足实际部署需求。本文提出EXPO-FT系统,旨在对预训练VLA策略进行稳定、样本高效的强化学习微调。该方法解决了现有从头训练或微调方案在利用预训练先验、样本效率和成功率方面的不足,并在一系列具有挑战性的操作任务(如串灯布线、插电点亮)上验证了其有效性。

OPAL: Omnidirectional Path-efficient Aerial 3D expLoration

第一作者: Yoga Satwik Chappidi · 方向: 机器人操作 · 来源: cs.RO

Abstract:Autonomous exploration is critical for robot mapping unknown environments. Desirable characteristics of exploration algorithms include compute efficiency and small traversed distance during the exploration process. Motivated by these, we present Omnidirectional Path-efficient Aerial 3D expLoration (OPAL), an exploration framework centered on deliberate 360-degree yaw rotation at ambiguous branch points rather than compute-heavy global tour planning. We devise multiple variants of OPAL to determine the frontier-selection strategy once the yaw pan is completed. One variant is model-free, while others use large language models (LLMs) or vision-language models (VLMs). We characterize the performance of these variants while varying the vicinity search radius to include frontiers in the selection process. Through simulations we find that although the time-consuming in-place yaw...

论文介绍 本文提出了一种面向高效三维探索的框架OPAL。该方法以计算效率和遍历距离为核心目标,在遇到模糊分支点时,采用刻意的360度原地偏航旋转策略,而非计算密集的全局路径规划。在此基础上,设计了多种前沿选择策略变体,包括无模型方法以及利用大语言模型或视觉语言模型的变体,并通过仿真评估了不同策略和搜索半径的性能。

How to Mitigate the Distribution Shift Problem in Robotics Control: A Robust and Adaptive Approach Based on Offline to Online Imitation Learning

第一作者: Hyung-Suk Yoon · 方向: 模仿学习 · 来源: cs.RO

Abstract:Distribution shift in imitation learning refers to the problem that the agent cannot plan proper actions for a state that has not been visited during the training. This problem can be largely attributed to the inherently narrow state-action coverage provided by expert demonstrations over the full environment. In this paper, we propose a robust offline to adaptive online imitation learning framework that handles the distribution shift problem in a lifelong, multi-phase scheme. In the offline learning phase, we leverage supplementary demonstrations to broaden the state-action coverage of the policy by utilizing a discriminator to effectively train the policy with supplementary demonstrations, thereby enhancing the robustness of the policy to distribution shift. In the subsequent online inference phase, our framework detects the occurrence of distribution shift and conducts...

论文介绍 模仿学习中的分布偏移问题,源于专家演示对状态-动作空间的覆盖有限,导致智能体在未见状态时规划失当。本文提出一种鲁棒的离线到自适应在线模仿学习框架,以终身多阶段方案处理此问题。离线阶段利用补充演示并通过判别器增强策略对分布偏移的鲁棒性;在线阶段则检测分布偏移的发生并进行自适应调整,从而提升策略的泛化与适应能力。

Path Following Control System of Line-of-Sight Guidance for Robotic Dolphin with Multi-Link Mechanism in Underwater Simulator

第一作者: Takumi Asada · 方向: 数据集与评测 · 来源: cs.RO

Abstract:Biomimetic autonomous underwater vehicle (BAUV) with multi-link mechanism is widely used in aquatic life observation and environmental surveys due to its low power consumption and high maneuverability. An environmental survey requires a path following system that automatically follows specific points. However, the path following system of BAUV is limited, and its evaluation with multi-link mechanism robots has not yet been clarified. The path following system in BAUV requires prior simulation because the model differs depending on the type of biomimetics. In this study, we propose a path following system for BAUVs with a multi-link mechanism and evaluation in underwater simulation. In this result, it was possible to design a path following system suitable for BAUV, determine parameters using a simulator, and evaluate control methods.

论文介绍 本文研究多关节仿生机器鱼(BAUV)的路径跟踪控制系统。为满足水下环境调查的需求,需要自动跟随特定路径。然而,相关控制系统研究有限,且针对多关节机器鱼的评估尚不明确。作者提出了一种路径跟踪系统,并在水下模拟器中进行验证。结果表明,所设计的系统适用于BAUV,可通过模拟器确定参数并评估控制方法。

Parallel Differentiable Reachability for Learning and Planning with Certified Neural Dynamics and Controllers

第一作者: Keyi Shen · 方向: 具身智能 · 来源: cs.RO

Abstract:Neural network (NN) dynamics models and control policies achieve strong performance in robotics, but providing sound guarantees under uncertainty remains difficult, especially for closed-loop NN systems. Existing reachability tools provide formal over-approximations, yet are often non-differentiable, overly conservative, or too slow for modern learning and online planning pipelines. To address this, we present a parallelizable, differentiable reachability framework in JAX for continuous- and discrete-time systems with analytical and NN-based dynamics and controllers. Our framework combines Taylor-model flowpipe construction with CROWN-style linear bound propagation through a unified representation that preserves affine dependencies while supporting GPU-batched computation and automatic differentiation. Building on this reachability primitive, we develop (i) a certified...

论文介绍 本文提出一个基于JAX的、可并行且可微分的可达性分析框架,用于处理具有分析或神经网络动态和控制器的连续/离散时间系统。该框架结合了Taylor模型流管构造与CROWN式线性边界传播,支持GPU批量计算和自动微分。在此基础上,开发了经过认证的控制综合与在线规划方法,为基于神经网络的机器人学习与控制提供安全保证。

GreenSeg: Ground Segmentation Algorithm for Agricultural Robots in Mediterranean Greenhouses using RGB-D Point Clouds

第一作者: Fernando Cañadas-Aránega · 方向: 导航与运动 · 来源: cs.RO

Abstract:Greenhouse agriculture in the Mediterranean region faces significant automation challenges due to its unique structural and environmental constraints. These environments are characterized by extremely narrow aisles, heterogeneous terrains ranging from concrete to tilled soil and severe optical interference caused by polyethylene covers, which induce specular reflections and "ghost points" in depth sensors. While autonomous navigation is essential for digitizing agricultural tasks, traditional solutions often rely on expensive 3D LiDAR systems that are economically unscalable for most facilities. To address this, this paper presents GreenSeg, a robust perception framework for autonomous navigation using RGB-D sensing. The proposed method introduces a dual-layer validation strategy: a robust global plane fitting combined with a surface curvature filter for terrain adaptability...

论文介绍 本文针对地中海温室狭窄、地形多变及由聚乙烯覆盖物导致严重光学干扰的环境,提出一个基于RGB-D传感的鲁棒地面分割框架GreenSeg。该方法采用双层验证策略,包括鲁棒的全局平面拟合和基于表面曲率的过滤器,以适应不同地形并有效去除深度传感器产生的“鬼影点”,从而为经济型农业机器人的自主导航提供可靠的感知支持。

InvariantCloud: A Globally Invariant, Uniquely Indexed Point Cloud Framework for Robust 6-DoF Tactile Pose Tracking

第一作者: Pengfei Ye · 方向: 机器人操作 · 来源: cs.RO

Abstract:Recent advances in imitation learning and vision-language models highlight the need for high-fidelity tactile perception, with 6-DoF tactile object pose estimation providing a crucial foundation for precise robotic manipulation. We introduce InvariantCloud, a 6-DoF pose estimation framework that leverages the global invariance of surface marker constellations on vision-based tactile sensors. In contrast to recent approaches, our one-shot globally invariant point cloud registration suppresses cumulative drift and overcomes long-standing limitations in accurately estimating yaw (Z-axis) rotation. Experimental verifications show that InvariantCloud achieves superior yaw tracking accuracy and re-localization repeatability compared to existing benchmarks, demonstrating its precision and robustness in long-sequence manipulation tasks.

论文介绍 高保真触觉感知是机器人精确操作的基础。本文提出InvariantCloud,一种用于触觉传感器的六自由度姿态估计框架。该框架利用传感器表面标记星座的全局不变性,通过单次全局不变点云配准来估计姿态,有效抑制了累积漂移并解决了长期存在的偏航旋转估计难题。实验表明,该框架在偏航跟踪精度和重定位重复性上优于现有基准,展现出长序列操作任务中的精度与鲁棒性。

Soft Pneumatic Actuators for Soft Robotics: A Motion-Based Review of Actuation Mechanisms and Performance Trade-offs

第一作者: Mohammed Abboodi · 方向: 具身智能 · 来源: cs.RO

Abstract:Soft pneumatic actuators are widely used in soft robotics because they can produce large motions while remaining compliant enough to interact safely with objects, environments, and the human body. However, their performance is not solely determined by pressure. Instead, the response depends on the way the actuator is built, including the shape of its chambers, the placement of reinforcements, the use of folds, material stiffness, and the constraints that guide its deformation. As the literature has expanded, it has become more difficult to determine which mechanism is most suitable for a given application and which reported results can be compared across studies. This review examines soft pneumatic actuators according to the design strategies used to generate four motion classes: linear, bending, twisting, and omnidirectional actuation. For each class, it analyzes the...

论文介绍 软体气动执行器因其大变形和安全性而被广泛应用于软体机器人领域。本综述根据执行器能产生的四种基本运动——线性、弯曲、扭转和全方位运动——对现有设计策略进行了系统分类和回顾。文章分析了不同设计要素(如气室形状、加强筋布局、材料刚度)与运动性能之间的权衡关系,旨在帮助研究者为特定应用选择合适的执行器机制,并解决跨研究间结果比较的难题。

A Decentralized LiDAR-SLAM System with Certifiably Optimal Pose Graph Optimization

第一作者: Baoshan Song · 方向: 导航与运动 · 来源: cs.RO

Abstract:Decentralized multi-robot LiDAR-SLAM is essential for collaborative missions but faces significant challenges in maintaining global consistency. Existing frameworks predominantly rely on local-search optimization or one-time coordinate alignment, which are prone to suboptimal convergence and long-term inconsistency, especially in large-scale or degenerate environments. To address these limitations, this paper presents the first decentralized LiDAR-SLAM system that integrates a state-of-the-art certifiably optimal Pose Graph Optimization (PGO) backend. By leveraging the Riemannian Block Coordinate Descent (RBCD) algorithm, our system ensures globally consistent trajectory estimation without requiring accurate initial guesses. Experimental results demonstrate that the proposed framework achieves superior robustness, improving trajectory RMSE by up to 48.9% compared to the...

论文介绍 多机器人协作的去中心化LiDAR-SLAM是实现协同任务的关键,但现有方法难以维持全局一致性。本文提出了首个集成可证最优位姿图优化后端的去中心化LiDAR-SLAM系统。该系统采用黎曼块坐标下降算法进行优化,无需精确初始猜测即可获得全局一致的轨迹估计。实验结果表明,该框架具有优越的鲁棒性,在轨迹均方根误差上比现有方法提升了高达48.9%。

X-DiffVLA: X-Embodied Diffusion Action Heads for Vision-Language-Action Models

第一作者: Boyu Li · 方向: VLA 通用模型 · 来源: cs.RO

Abstract:Learning universal policies from cross-embodied data remains a fundamental challenge in robotics. Although Vision-Language-Action (VLA) models are pre-trained on large and diverse datasets, they typically rely on embodiment-specific fine-tuning to achieve strong performance in downstream tasks. This requirement severely limits their generalization capability and restricts knowledge transfer across embodiments performing similar tasks. To overcome these limitations, we focus on cross-embodied settings with shared robotic bases and heterogeneous end-effectors, and propose X-DiffVLA, a diffusion-based VLA model featuring a unified cross-embodied action head. X-DiffVLA can leverage the generative strengths of diffusion models to capture both the diversity and latent correlations in cross-embodied datasets. Specifically, we introduce Embodiment Forcing, a classifier-free guidance...

论文介绍 从跨具身数据中学习通用策略是机器人领域的核心挑战。现有的视觉-语言-动作模型通常需要针对具体机器人进行微调,限制了其泛化能力。本文聚焦于共享机器人基座但末端执行器不同的跨具身设置,提出了X-DiffVLA。该模型基于扩散模型构建了一个统一的跨具身动作头,通过「具身强制」等机制,旨在利用扩散模型的生成能力,捕捉跨具身数据中的多样性和潜在关联,提升跨具身泛化能力。

RAMBA: 4D Radar Mapping by Bundle Adjustment

第一作者: Jianzhu Huai · 方向: 具身智能 · 来源: cs.RO

Abstract:4D radar is increasingly attractive for robotic mapping because it provides range, azimuth, elevation, and Doppler measurements while remaining robust in adverse visibility conditions. Although recent radar and radar--inertial odometry methods have achieved promising online state estimation performance, offline global map refinement for 4D radar remains underexplored. This paper presents RAMBA, a radar bundle-adjustment framework for globally consistent 4D radar mapping. Given initial poses and radar frames from a radar--inertial odometry front-end, RAMBA jointly refines radar frame states using covariance-weighted geometric residuals, IMU preintegration factors, and radar ego-velocity constraints. The geometric residuals extend pairwise GICP to a multi-frame optimization by forming voxel-based correspondences across selected frames and weighting each residual with point...

论文介绍 4D雷达能提供距离、方位、俯仰和多普勒信息,在恶劣环境下具有鲁棒性,是机器人建图的理想传感器。然而,针对4D雷达的离线全局地图优化研究不足。本文提出RAMBA,一个用于4D雷达建图的光束法平差框架。给定初始位姿,RAMBA通过联合优化雷达帧状态、IMU预积分因子和自车速度约束,利用加权几何残差对地图进行全局一致性精化,从而生成更精确的4D点云地图。

ParkingWorld: End-to-End Autonomous Parking Reinforcement Learning from Corrective Experience in 3DGS Simulation

第一作者: Zhengcheng Yu · 方向: 模仿学习 · 来源: cs.RO

Abstract:Autonomous parking demands precise low-speed maneuvering within narrow, cluttered, and highly constrained environments, where vehicles must navigate tight spaces while avoiding static obstacles and complex geometric boundaries. Unlike imitation learning, which typically requires massive volumes of high-quality expert demonstrations to converge to a stable policy and often suffers from limited generalization to unseen scenarios, traditional reinforcement learning (RL) methods face persistent challenges including excessive training overhead, inefficient exploration, and even failure to learn viable parking strategies in challenging settings. To address these limitations, this paper presents a correction-in-the-loop sample-efficient reinforcement learning (CIL-SERL) framework for end-to-end autonomous parking, which is entirely trained in a photorealistic 3D Gaussian Splatting...

论文介绍 自动泊车需要在狭窄复杂环境中进行精确的低速机动。传统强化学习方法面临训练开销大、探索效率低等问题。本文提出了一种基于校正经验的样本高效强化学习框架,用于端到端自动泊车策略学习。该框架完全在一个照片级逼真的3D高斯溅射仿真环境中训练,通过引入校正机制,旨在提升样本效率和最终策略性能,以应对高约束泊车场景的挑战。

Micro-Swarm Locomotion Optimization in Dynamic Flow using Multi-Objective Multi-Agent Reinforcement Learning

第一作者: Josef Berman · 方向: 导航与运动 · 来源: cs.RO

Abstract:Coordinating micro-robotic swarms in physiologically realistic, time-dependent fluid environments remains an unsolved challenge for biomedical and environmental applications. We present a hybrid Computational Fluid Dynamics - Multi-Objective Multi-Agent Reinforcement Learning framework that directly couples a high-fidelity incompressible Navier-Stokes solver with decentralized proximal policy optimization to learn physically consistent swarm control strategies in oscillatory flow. Sixteen magnetically actuated micro-robots navigate a pulsatile arterial waveform, simultaneously optimizing upstream progression, energy conservation, and motion smoothness, reconciled using PCGrad surgery. Without PCGrad, energy efficiency and smoothness rewards collapse to near zero within 10,000 training steps while progress exhibits persistent large-amplitude oscillations, confirming that...

论文介绍 在生理相关的动态流体中协调微机器人群体,对生物医学等应用至关重要。本文提出了一种混合计算流体力学与多目标多智能体强化学习框架。该框架将高保真流体求解器与去中心化策略优化直接耦合,用于在振荡流场中学习物理一致的集群控制策略。通过使用PCGrad方法协调「前进」、「节能」和「平滑」三个相互竞争的目标,实验表明该方法能有效训练磁驱微机器人穿越脉动流场。

Performance Comparison of Classical and Neural Sampling Algorithms for Robotic Navigation

第一作者: Hichem Cheriet · 方向: 导航与运动 · 来源: cs.RO

Abstract:Integrating artificial intelligence (AI) into sampling-based motion planning provides new possibilities for improving autonomous navigation efficiency. In this paper, three algorithms, namely RRT*, Neural RRT*, and Neural Informed RRT*, are implemented and evaluated on environments containing convex and concave obstacles with different obstacle densities. The obtained results indicate that neural-guided planners improve path quality, producing up to 14\% shorter paths and 55--75\% smoother trajectories compared with the conventional RRT* algorithm. Among the evaluated methods, Neural Informed RRT* achieves the best overall performance in terms of path length and trajectory smoothness. These results demonstrate the effectiveness of AI-guided sampling strategies for improving reliability and trajectory efficiency in robotic and UAV navigation, despite a slight increase in...

论文介绍 将人工智能融入基于采样的运动规划能提升自主导航效率。本文实现并评估了三种算法:RRT*、Neural RRT* 和 Neural Informed RRT*,在包含凸凹障碍物的环境中进行测试。结果表明,神经引导的规划器能提升路径质量,与传统RRT*相比,路径长度缩短最多14%,轨迹平滑度提升55-75%。其中Neural Informed RRT*在路径长度和平滑度上综合性能最佳,证明了AI引导采样策略对提升机器人导航轨迹效率的有效性。

Convex-Neural RRT*: Fast and Reliable Learning-Guided Sampling for High-Quality Robot Path Planning

第一作者: Hichem Cheriet · 方向: 导航与运动 · 来源: cs.RO

Abstract:Sampling-based algorithms for robot path planning offer probabilistic completeness and strong empirical convergence properties across environments with diverse obstacle configurations. However, in practice, these methods often require many iterations to obtain high-quality solutions. This paper proposes Convex-Neural RRT*, an enhanced RRT* variant that incorporates neural guidance to predict informative waypoint regions near high-quality paths. Convex candidate regions are extracted from these predictions, enabling the planner to concentrate exploration on geometrically relevant areas while preserving global exploration. The proposed algorithm is evaluated against Neural RRT*, Neural Informed RRT*, classical RRT*, and LTA* across three environment types and 18 benchmark maps. Experimental results show that Convex-Neural RRT* reduces computation time by 30-75% compared to...

论文介绍 研究采样式路径规划算法需要大量迭代才能获得高质量解的问题。提出Convex-Neural RRT*,通过神经网络预测高质量路径附近的航点区域,提取凸候选区域以集中探索,同时保持全局探索。该算法在多种环境中评估,显示能显著减少计算时间,提高路径规划的速度和可靠性。

Bridging the Gap: Enabling Soft Actor Critic for High Performance Legged Locomotion

第一作者: Gianluca Sabatini · 方向: 导航与运动 · 来源: cs.RO

Abstract:Proximal Policy Optimization (PPO) has become the de facto standard for training legged robots, thanks to its robustness and scalability in massively parallel simulation environments like IsaacLab. However, its on-policy nature makes it inherently sample-inefficient, preventing its use for continuous adaptation and fine-tuning on real hardware. Soft Actor-Critic (SAC), by contrast, is an off-policy algorithm that can reuse past experience, making it a natural candidate for sim-to-real transfer workflows where the same algorithm can be used both in simulation and for online learning on the real robot. Despite these advantages, SAC has consistently failed to match PPO's empirical performance in massively parallel training settings. This work identifies the root causes of this gap and introduces targeted modifications, covering policy initialization, timeout-aware critic targets...

论文介绍 针对SAC在大量并行训练环境中性能不如PPO、限制真实硬件连续适应的问题。通过策略初始化和超时感知评论家目标等修改,使SAC适用于高性能腿式运动。该方法促进sim-to-real工作流程,实现在线学习和实时适应,提升机器人运动的稳健性。

HumanEgo: Zero-Shot Robot Learning from Minutes of Human Egocentric Videos

第一作者: Wang · 方向: 机器人操作 · 来源: cs.RO

Abstract:Human egocentric video captures rich manipulation demonstrations without any robot hardware, yet transferring these skills to robots remains challenging due to the embodiment gap between human and robot in both visual appearance and kinematics. We present HumanEgo, a framework that bridges the embodiment gap by lifting each human demonstration to an entity-level representation of hand-object interaction, and training a flow matching policy with dense auxiliary objectives that amplify supervision from every trajectory. HumanEgo is robot-data-free, hardware-agnostic, data-efficient, and zero-shot human-to-robot transferable. With only 30 minutes of human videos per task, HumanEgo achieves 92.5% average success across four real-world tasks (75% with just 15 minutes), outperforms matched-time robot teleoperation by 41%, and robustly transfers zero-shot across novel robots...

论文介绍 解决如何将人类中心视频中的操作技能迁移到机器人、克服视觉和运动学具身差距的难题。提出HumanEgo框架,通过实体级手物交互表示和流匹配策略训练,实现数据高效和零样本迁移。仅需少量人类视频即可在多种任务中高成功率执行。

Learning High-Frequency Continuous Action Chunks in Latent Space

第一作者: Kunyun Wang · 方向: 具身智能 · 来源: cs.RO

Abstract:Modern robotic policies increasingly rely on action chunking to execute complex tasks in the physical world. While action chunking improves temporal consistency at moderate action frequencies, it becomes insufficient when the action frequency is further increased (e.g., to 60~Hz). At such high frequencies, policies often fail to generate actions that are both temporally smooth and spatially consistent. We address this challenge by shifting high-frequency action learning from the action space to a latent space with variational autoencoder (VAE). This formulation significantly improves both temporal and spatial consistency of high-frequency control. To enable smooth real-time execution, we further introduce Reuse-then-Refine, a chunk-level refine strategy that improves continuity between adjacent action chunks under asynchronous inference. As a result, robots controlled by our...

论文介绍 针对高频动作频率下动作分块策略的时空一致性不足问题。使用变分自编码器将高频动作学习转移到潜空间,并引入Reuse-then-Refine策略改善动作块间连续性。该方法实现高频实时控制,提高机器人执行复杂任务的平滑性和一致性。

Dynamic Neural Koopman Distillation for Real-Time Robot Control Using Diffusion Models

第一作者: Lei Zheng · 方向: 导航与运动 · 来源: cs.RO

Abstract:Diffusion models excel at generating diverse and multimodal trajectories for robotic planning, yet their iterative denoising process introduces latency that is incompatible with high-frequency closed-loop control. To address this problem, we propose Dynamic Neural Koopman Distillation, a framework that distills multistep diffusion inference into a single forward pass while retaining the multimodal expressivity of the teacher model. Specifically, we introduce a Factorized Dynamic Koopman layer that models the denoising process through a factorized latent transition with state-dependent modal gains. We evaluate the proposed method on standard D4RL MuJoCo locomotion benchmarks and a physical Kinova manipulator, comparing against one-step baselines. The results show that our method significantly outperforms existing one-step distillation approaches on the reported locomotion...

论文介绍 研究扩散模型在生成机器人轨迹时的延迟问题,不适用于高频闭环控制。提出动态神经Koopman蒸馏,将多步扩散推理蒸馏为单次前向传播,保留多模态表达能力。该方法实现实时轨迹规划,用于运动和操作任务。

MuJoCoUni:Persistent Batched Runtime Primitives for MuJoCo

第一作者: Yufei Jia · 方向: 导航与运动 · 来源: cs.RO

Abstract:We present MuJoCoUni, a downstream MuJoCo distribution for online robot learning and batched physics evaluation. Alongside the open-loop batched trajectory generation already provided by upstream this http URL, MuJoCoUni supplies runtime primitives for stateful environment execution. The target workloads need high-throughput parallel execution while retaining upstream CPU MuJoCo semantics for models, sensors, contact, and constraints. Its core object, BatchEnvPool, is a C++/pybind11 executor that owns per-environment mjModel copies, per-thread mjData workers, and an internal thread pool. It provides final-state-only short stepping, sparse reset, reset-lifecycle domain randomization, batched sensor forward evaluation without advancing dynamics, and batched Jacobian and height-field queries. The implementation is confined to the Python binding layer; MuJoCo's solver, contact...

论文介绍 针对机器人学习和物理评估需要高吞吐量并行执行、同时保持MuJoCo语义的需求。开发MuJoCoUni,提供持久化批量运行时原语,如BatchEnvPool,支持有状态环境执行。该工具加速策略学习和仿真评估,用于在线学习和批量数据生成。

Learning Transferable Motor Skills for Geometry-Aware Robotic Surface Tasks

第一作者: Miroslav David · 方向: 导航与运动 · 来源: cs.RO

Abstract:Robotic surface-interaction tasks, such as spray painting or welding, require both accurate geometric planning and precise motion execution. While modern motion planners generate valid geometric paths, they often lack the expert motor patterns observed in human operators. Conversely, learning from demonstration often tightly couples task execution to the specific training geometry, limiting transferability. We propose a modular framework that decouples geometric motion planning from execution-level expertise. Expert behavior is represented as a vocabulary of interpretable, atomic motor rules, such as velocity scaling and orientation offsets, that systematically modify a geometrically planned reference path. We train a multimodal neural network to infer rule parameters jointly from kinematic trajectory data and CAD model geometry. We evaluate our approach through dynamic...

论文介绍 解决表面交互任务中规划与执行解耦不足、限制技能迁移的问题。提出模块化框架,将几何规划与执行级专长分离,用可解释运动规则词汇表示专家行为,并训练多模态网络推断规则参数。实现跨几何形状的技能迁移,用于喷涂、焊接等任务。

Manifold-Constrained MPPI: Real-Time Sampling-Based Control Under Hard Constraints

第一作者: Seulchan Lee · 方向: 机器人操作 · 来源: cs.RO

Abstract:Sampling-based model predictive control methods, such as Model Predictive Path Integral (MPPI), offer derivative-free optimization and robustness in complex robotic systems. However, standard MPPI relies on cost-based soft penalties that cannot guarantee hard-constraint satisfaction, severely limiting its applicability to highly constrained tasks such as closed-chain manipulation. To address this, we propose Manifold-Constrained MPPI (MC-MPPI), a real-time sampling-based control framework that enforces manifold-based equality constraints while preserving the computational advantages of MPPI. The key idea is to decouple the constrained optimal control problem into latent-space planning and execution-level correction. At the planning stage, a Variational Autoencoder (VAE) learns a low-dimensional latent representation of the constraint manifold, enabling MPPI to efficiently...

论文介绍 针对标准MPPI依赖软惩罚、无法保证硬约束满足、限制在高度约束任务中应用的问题。提出流形约束MPPI,通过VAE学习约束流形的潜空间表示,实现潜空间规划和执行级校正。该方法实现实时采样控制,适用于闭环操作等约束任务。

Geometric Workspace Analysis and Transmission-Aware Dynamics of a Serial Spherical Tool for Microsurgery

第一作者: Anestis Mablekos-Alexiou · 方向: 数据集与评测 · 来源: cs.RO

Abstract:We present a kinematic and transmission-aware design framework for a serial spherical mechanism with an additional translational degree of freedom for microsurgery. The first contribution is an analytical workspace formulation that provides geometric insight into reachable motion and enables rapid selection of rotation axis orientations without numerical optimization. The second contribution is a dynamics-informed methodology for mechanisms driven by self-locking transmissions, supporting evaluation of torque requirements for a prescribed workspace geometry. The framework is accompanied by an open-source software package for friction identification and inverse dynamics analysis. Experiments on a purpose-built robotic tool for vitreoretinal surgery validate the predictive capability of the models and demonstrate their practical utility for engineering design.

论文介绍 本文针对显微外科手术,提出了一种串联球形机构的运动学与传动感知设计框架。其核心贡献包括一个解析的工作空间公式,可提供运动可达性的几何洞察并快速选择旋转轴朝向,以及一个基于动力学的方法论,用于评估自锁传动下的扭矩需求。该框架配套了用于摩擦辨识和逆动力学分析的开源软件包。通过玻璃体视网膜手术专用机器人的实验,验证了模型的预测能力及其在工程设计中的实用价值。

Sum of Costs Diffusion with Dynamic Guidance for Motion Planning

第一作者: Aysu Aylin Kaplan · 方向: 机器人操作 · 来源: cs.RO

Abstract:The motion planning problem for robotic manipulation can be addressed through classical or deep learning approaches. Existing methods face significant challenges in generalizing to diverse settings. In this study, we present a method with high generalization capability that generates collision-free trajectories using diffusion models where the denoising process is guided by the gradient of the total collision cost. We are also presenting a dynamic approach for choosing start step of the gradient guidance. Experimental results demonstrate that guiding the diffusion model dynamically with the sum of collision costs offers more robust performance by overcoming the generalization issues faced by competing methods. The proposed model demonstrates its effectiveness by achieving the highest performance on diverse test settings in M$\pi$nets\ dataset among the compared methods.

论文介绍 针对机器人操作中的运动规划泛化难题,本文提出了一种利用扩散模型生成无碰撞轨迹的方法。其核心在于,扩散模型的去噪过程由总碰撞成本的梯度进行引导。此外,研究还提出了一种动态选择梯度引导起始步的策略。实验表明,利用碰撞成本和进行动态引导,能够克服竞争方法面临的泛化问题,实现更鲁棒的性能。该方法在多样测试场景中取得了最优效果。

Towards Low-Gravity Planetary Exploration using Reinforcement Learning for Walking, Jumping, and In-flight Attitude Control

第一作者: Jørgen Anker Olsen · 方向: 导航与运动 · 来源: cs.RO

Abstract:This paper presents reinforcement learning (RL) policies for dynamic quadrupedal locomotion in planetary exploration scenarios. Building on a taskoptimized quadruped with a 5-bar leg design, we develop RL policies for walking, vertical jumping, forward jumping, and in-flight attitude control, explicitly tailored to the reduced gravity on Mars. These policies jointly enable such robots to overcome obstacles larger than themselves through coordinated jumping and precise in-flight reorientation for safe landings. We demonstrate Sim2Real transfer of the attitude control policy on the Olympus quadruped through single-axis reorientation tests, while all locomotion policies are validated in simulation. A complete Mars exploration mission scenario demonstrates coordinated policy deployment across challenging terrain. Experimental results show 90° attitude reorientation in 2.6 seconds...

论文介绍 本文为行星探索场景下的四足机器人开发强化学习策略,旨在实现低重力环境(如火星)下的行走、垂直跳跃、前向跳跃及飞行姿态控制。策略允许机器人通过协调跳跃超越比自身更大的障碍物,并通过精准的空中重定向实现安全着陆。研究展示了姿态控制策略在四足机器人平台上的Sim2Real迁移,所有运动策略均在仿真中验证。完整的火星任务场景演示了策略在复杂地形下的协同部署能力。

PoseRefer: Pathway-Local Parameters for Semantically Grounded Reference Resolution

第一作者: Anna Deichler · 方向: 多模态具身 · 来源: cs.RO

Abstract:A robot resolving ``put the cup on that one'' must fuse gesture, language, and scene geometry, yet 3D grounding benchmarks only partially capture this regime: descriptions are written post-hoc, gestures are templated, or pointing is staged for the camera. MM-Conv captures natural co-speech gesture from dyadic VR interaction alongside full-body motion capture and 3D scene graphs. We use it to evaluate pose-language fusion with a decoupled late-fusion architecture in which pose and text pathways share no learned parameters. The two choices together make category, pose, and text contributions easier to isolate through controlled ablations. Fusion with frozen MiniLM category embeddings exceeds pose alone and the best text-only pathway on every reference type, reaching 31.9% top-1. The learned scalar gate flips between opposing policies depending on whether the text pathway has...

论文介绍 机器人需要融合手势、语言和场景几何来理解如「把杯子放在那个上面」这类指令,但现有基准测试无法完全捕捉此场景。本文利用MM-Conv数据集评估了基于解耦后期融合架构的姿态-语言融合方法。分析表明,融合冻结的MiniLM类别嵌入在所有参考类型上均超越了仅姿态或仅文本的路径。研究通过受控消融实验,更清晰地分离了类别、姿态和文本模态的贡献。

MuGen: Multi-Skill Generative Locomotion Controller for Humanoid Robots

第一作者: Yusen Feng · 方向: 导航与运动 · 来源: cs.RO

Abstract:This paper presents MuGen, a data-driven framework for learning and deploying multi-skill locomotion on humanoid robots. MuGen enables a robot to perform expressive motions like humans under the guidance of example motion sequences. To achieve this, we employ vector-quantized autoencoders (VQ-VAEs) trained with model-based reinforcement learning, resulting in a generative representation of locomotion that captures key patterns of human motion from hours of heterogeneous human performance data. We employ a teacher-student learning framework and develop a new policy distillation strategy to enable a deployable student policy learning this efficient latent representation. This policy allows the robot to track and mimic unseen human motions and further enables the robot to reuse the learned latent space for other tasks. We demonstrate the effectiveness of our framework through a...

论文介绍 本文提出MuGen,一个数据驱动的框架,用于学习和部署人形机器人的多技能运动。该框架利用向量量化自编码器结合模型基强化学习,从异质人类表演数据中学习运动的关键模式,形成生成式运动表征。通过教师-学生学习框架和新的策略提炼方法,实现了可部署的学生策略。该策略不仅能让机器人追踪和模仿未见过的运动,还能复用学到的潜在空间执行其他任务。

Elevator-LIO: Robust LiDAR-Inertial Odometry for Multi-Floor Navigation under Elevator-Induced Non-Inertial Motion

第一作者: Yifan Zhang · 方向: 导航与运动 · 来源: cs.RO

Abstract:This paper presents Elevator-LIO, a LiDAR-inertial odometry framework designed to achieve continuous robot localization during elevator travel, thereby supporting cross-floor robotic tasks. To address the state-estimation problem in non-inertial frames, Elevator-LIO establishes a decoupled state-estimation model that separately models the robot motion relative to the elevator and the elevator motion itself, and embeds it into a mode-dependent iterated error-state Kalman filter framework. This framework degenerates to conventional LIO estimation in ordinary indoor environments, while enabling the propagation and constrained update of elevator-related states in elevator non-inertial environments, thereby achieving continuous and stable localization. An elevator mode manager detects elevator entry and exit events using LiDAR ranging statistics and estimated states, and introduces...

论文介绍 为支持跨楼层机器人任务,本文提出Elevator-LIO,一个旨在电梯运行期间实现机器人连续定位的激光雷达-惯性里程计框架。为解决非惯性系下的状态估计问题,它建立了一个解耦状态估计模型,分别建模机器人相对于电梯的运动和电梯本身的运动,并将其嵌入模式相关的迭代误差状态卡尔曼滤波器框架。该框架在常规环境中退化为标准LIO,而在电梯非惯性环境中则能实现连续稳定的定位。

Polymander II: an amphibious salamander-inspired robot with contact and flow sensors

第一作者: Qiyuan Fu · 方向: 具身智能 · 来源: cs.RO

Abstract:Robots benefit from sensory information to coordinate body movement, gain robustness against perturbations, and transit between different modes to adapt to various terrains. However, few amphibious robots can sense interactions with both terrestrial and aquatic environments. In this paper, we present a solution that uses Hall-effect sensors to sense foot contact forces and lateral hydrodynamic forces on a salamander-inspired amphibious robot. With two bus lines, the robot can simultaneously acquire this exteroceptive information at more than 500 Hz and proprioceptive information, such as joint positions and loads, at 100 Hz. The Hall-effect sensors used are compact, making them suitable for embedding in multiple positions within a robot, and exhibit high sensitivity to small forces. Moreover, because the sensor can be positioned separately from the measured object...

论文介绍 本文为受蝾螈启发的两栖机器人集成了一套感知系统,使其能够适应陆地和水域环境。系统利用霍尔效应传感器来感知脚部接触力和侧向水动力。通过两路总线,机器人能以超过500Hz的频率同时获取这些外部感知信息,并以100Hz获取关节位置和负载等本体感觉信息。所用传感器紧凑且灵敏,适合嵌入机器人多个位置,且其与被测物体分离放置的特性提供了设计灵活性。

Smoother Action Chunking Flow Policy via Prior-Corrected Orthogonal Trust-Region Guidance

第一作者: Kai Fang · 方向: 具身智能 · 来源: cs.RO

Abstract:Flow-matching robot policies commonly use action-chunking inference for efficient closed-loop control, but chunk boundaries can introduce discontinuous action transitions. Existing RTC guidance improves continuity by injecting correction signals during denoising, yet its weight schedule is weak at intermediate timesteps and its unconstrained correction direction may introduce transverse perturbations. We propose POTR, a **p**rior-corrected **o**rthogonal **t**rust-**r**egion guidance method. First, we incorporate a data-prior scale $\sigma_d$ into the RTC guidance weight, yielding stronger intermediate-time correction. Second, we decompose the guidance vector into components parallel and perpendicular to the denoising velocity, and constrain the perpendicular component within a trust region. On LIBERO with $\pi_{0.5}$, POTR improves success rate and consistently reduces...

论文介绍 流匹配机器人策略常采用动作分块推理以实现高效闭环控制,但分块边界可能导致动作过渡不连续。现有RTC引导方法通过在去噪过程中注入校正信号来改善连续性,但其权重调度在中间时间步较弱,且无约束的校正方向可能引入横向扰动。本文提出POTR方法,通过引入数据先验校正来增强中间时间步的校正,并将引导向量分解后约束其正交分量在一个信任域内,从而生成更平滑的动作序列。

RoboHitch: Learning Visual Affordance from Disordered Keypoints for Hitch Knots Tying

第一作者: Jiahui Zuo · 方向: 机器人操作 · 来源: cs.RO

Abstract:Robotic manipulation of deformable linear objects (DLOs) presents significant challenges due to complex dynamics and frequent self-occlusions. Existing robotic knot tying methods typically rely on precise topological state tracking with ordered keypoints and explicit edge connectivity. This reliance makes them prone to failures due to tracking drift and topology mismatch caused by repeated bending and crossings during knot this http URL address these limitations, we introduce RoboHitch, a novel framework that learns to perform hitch knot tying from human demonstrations using only disordered 3D keypoints and RGB images. This eliminates the need for explicit topological order, allowing for more flexible manipulation. Our method employs a dynamic Graph Autoencoder to extract geometric features from untracked keypoints, complemented by a Convolutional Autoencoder that captures...

论文介绍 本研究针对机器人操作可变形线性对象(如绳子)打结的挑战。现有方法依赖精确拓扑状态跟踪,易受跟踪漂移和拓扑不匹配影响。我们提出「RoboHitch」框架,仅使用无序3D关键点和RGB图像学习视觉供能。核心方法包括动态图自编码器提取几何特征和卷积自编码器捕捉视觉信息。该方法无需显式拓扑顺序,提高了操作灵活性,有望应用于更复杂的机器人操作任务。

PACT: Proactive Asking for Continual Task Assistance in Human-Robot Collaboration

第一作者: Chengbo He · 方向: 策略学习 · 来源: cs.RO

Abstract:Robotic assistants in long-term human-robot collaboration need to assist users under partial observations while leveraging cross-day interaction history. However, human traits and routines are often unknown at the beginning of collaboration, making passive infer-then-act assistance ineffective and inefficient. To address this challenge, we study a cross-day proactive asking setting for continual task assistance and propose PACT (Proactive Asking for Continual Task Assistance), an ask-or-act framework that determines whether clarification should be sought before taking action. PACT leverages current observations together with accumulated interaction history to evaluate contextual sufficiency, enabling the robot to provide more reliable assistance and progressively adapt to the user over time. We implement its primary learned instantiation using reinforcement learning and...

论文介绍 在长期人机协作中,机器人需在部分观察下辅助用户,但人类特征初始未知。被动推理方法效率低下。本研究提出「PACT」框架,实现主动询问或行动决策。该框架利用当前观察和跨日交互历史评估上下文充分性,通过强化学习实例化。机器人可逐步适应用户习惯,提供更可靠辅助,适用于智能家居和护理机器人等场景。

IsaacIPC: Coupling High-Fidelity Simulation and Realistic Rendering for Contact-Rich Robotic Systems

第一作者: Qixin Liang · 方向: 机器人操作 · 来源: cs.RO

Abstract:We present IsaacIPC, a robotic simulation framework that couples GPU accelerated incremental potential contact (IPC) with IsaacSim/Lab. IsaacIPC maps simulated deformation between simulation and visual meshes, enabling real-time realistic rendering with applications to data collection and policy evaluation. For tactile sensing, we introduce the geometric mortar contact potential (GMCP), which defines a barrier potential over contact samples on tactile surfaces to better resolve contact-pressure distributions. We evaluate GMCP on contact benchmarks and demonstrate IsaacIPC on rigid-deformable robotic simulations including a quadruped robot, a dexterous hand, and a universal manipulation interface (UMI) gripper.

论文介绍 机器人模拟需高保真实时渲染和精确接触建模。我们提出「IsaacIPC」框架,耦合GPU加速的增量潜力接触(IPC)与IsaacSim/Lab。该框架映射模拟变形到视觉网格,支持数据收集和策略评估。引入几何砂浆接触潜力(GMCP)改进触觉传感的接触压力分布解析。评估显示其在刚体-可变形体模拟中的有效性,可用于机器人训练和策略开发。

Terrain-Adaptive Grouser Wheel for Optimal Planetary Exploration: Design and Experimental Investigation

第一作者: Vincent Griffo · 方向: 多模态具身 · 来源: cs.RO

Abstract:Planetary rovers operating in extraterrestrial environments often encounter significant mobility challenges due to varying terrain features such as gradients and granularity. While recent works in multimodal wheel design have explored adjustments in stiffness, compliance, and diameter as a means to improve terrain adaptability, full wheel grouser-adjustable designs remain largely unexplored. Grousers are a compelling feature to actuate, as granular terrains tend to require increased grouser height for improved wheel performance. As a result, we introduce [Anonymized Robot Name], a multimodal wheel capable of continuously adjusting its grouser height for terrain adaptation. The platform was evaluated across four representative surfaces, including vinyl flooring, coarse rock, pea gravel, and sand under two packing states, spanning a range of granular conditions. Results from 750...

论文介绍 行星探测车在多变地形上面临移动挑战。我们设计了一种地形自适应轮刺轮,能连续调整轮刺高度以优化地形通过性。实验在四种表面(包括地板、岩石、砾石和沙子)上进行评估。该设计提升了轮子在不同粒度条件下的性能,为未来行星探索任务提供了改进的移动性方案。

ECo-MoE: Embodiment-Conditioned Mixture of Experts Increases the Evolvability of Robots

第一作者: Yibin Wang · 方向: 具身智能 · 来源: cs.RO

Abstract:In this paper, we introduce a model of evolution and learning in robots that co-optimizes a distribution of latent design vectors (genotypes) and a mixture of control experts (neural modules), which are gated by the latent coordinates of each decoded design (phenotype). This provides a scalable alternative to co-design algorithms that either train an individual policy for every robot, which is inefficient, or a monolithic universal controller for all robots, which results in overly conservative structures and behaviors. Our approach lies somewhere between these two extremes, preserving ancestral knowledge in a unified yet modular framework in which different body plans activate and deactivate different combinations of learned sensorimotor circuits for goal-directed behavior. This allows one part of the controller to be overhauled to better suit new species of designs as they...

论文介绍 机器人设计与控制需平衡个性化和通用性。本研究提出「ECo-MoE」模型,共同优化潜在设计向量和混合控制专家。通过具身条件门控,不同体形激活不同专家组合。该方法避免为每个机器人训练单独策略,也无需通用控制器,提供可扩展的模块化框架,增强了机器人的进化能力。

Afford-VLA: Action-Aligned Visual Planning via Internalized Affordance

第一作者: Runze Wang · 方向: VLA 通用模型 · 来源: cs.RO

Abstract:Vision-language-action (VLA) models have shown strong potential for generalist robot manipulation, yet they remain limited by insufficient spatial reasoning, particularly in determining where to interact in complex visual scenes. While recent efforts introduce various forms of visual planning to address this issue, existing approaches either rely on global geometric cues, symbolic intermediate representations, or externally generated visual signals, which are often weakly coupled with downstream action prediction. In this work, we revisit visual planning in VLA systems and argue that effective planning should be local, visually grounded, internally generated, and directly aligned with action. Based on this insight, we propose Afford-VLA, a unified framework that internalizes task-conditioned affordance as an explicit visual planning interface within VLA models. Concretely, we...

论文介绍 视觉-语言-动作(VLA)模型在复杂场景的空间推理上受限。我们提出「Afford-VLA」,将任务条件供能内化为视觉规划接口。该框架强调规划应局部、视觉基础且直接对齐动作,通过内部生成供能信号改善交互位置预测。这增强了VLA模型在机器人操作中的准确性和泛化能力。

Investigating the Effect of a Series Elastic Actuation Retrofit to Black-Box Actuators

第一作者: Ivan Tregear · 方向: 具身智能 · 来源: cs.RO

Abstract:In robotic applications, actuators are typically designed to be stiff with minimal backlash to ensure precision and repeatability. However, this limits compliance, leading to potential damage and poor force control in uncertain environments. Series Elastic Actuation (SEA) introduces compliance to enhance disturbance rejection and enable force measurement via Hooke's Law but reduces system bandwidth. A custom Series Elastic (SE) element was retrofitted to a black-box actuator to mitigate non-linearities like backlash and static friction. Integrating the SE element enabled high-fidelity force measurements, improving force control bandwidth and performance. A torsional SE element was designed through Finite Element (FE) analysis, yielding a stiffness of 2155.4 Nm/rad. Open-loop force control bandwidth was measured for the original motor and the SEA-integrated configuration, while...

论文介绍 传统刚性执行器缺乏柔顺性,限制力控制性能。本研究调查在黑盒执行器上改装串联弹性执行(SEA)的效果。设计了扭转弹性元件并通过FEA分析,集成后实现了高保真力测量。评估显示改进了力控制带宽和性能,适用于需要安全交互和精确力控制的机器人应用。

Anisotropic Diffusion-Driven Ergodic Coverage in Multi-Robot Systems

第一作者: Thales C. Silva · 方向: 具身智能 · 来源: cs.RO

Abstract:We consider the problem of combining potential field and ergodic search on multi-robot systems. Traditional ergodic search algorithms use metrics for ergodicity that account for the desired distribution at different scales. Recently, a heat equation-driven ergodic approach was proposed, which adds flexibility to the smoothing of the ergodic metric. However, such an approach, as it is an isotropic diffusion, propagates the error uniformly in all directions, regardless of changes in the desired distribution. We introduce a general class of anisotropic diffusion formulation of the ergodicity problem, which generates a potential field for the ergodic search. We demonstrate that this approach generalizes previous results, which consider radial basis functions and the solution of the heat equation to represent the difference between the goal density distribution and the covered...

论文介绍 多机器人系统中的遍历覆盖需高效分配搜索资源。传统方法使用各向同性扩散,忽略目标分布变化。我们提出各向异性扩散驱动的遍历覆盖,生成自适应势场。该公式推广了先前结果,能根据目标密度分布调整误差传播,提升覆盖效率,适用于区域监控和搜索任务。

RED: Adaptive Real-Time DAG Scheduling for Robotic Inference under Environmental Dynamics

第一作者: Zexin Li · 方向: 具身智能 · 来源: cs.RO

Abstract:Robots deployed in dynamic environments must contend with environment-driven changes that reshape computation at runtime: new tasks may appear, precedence relations can shift, and overall workload structure evolves, all of which degrade performance, especially when multi-task inference is required under tight resource and real-time budgets. We present RED, a real-time scheduling framework for multi-task deep neural network workloads on resource-constrained robotic platforms that adapts to Robotic Environmental Dynamics (RED) while preserving end-to-end timing guarantees under modeling assumptions. The core of RED is a deadline-aware scheduler that assigns intermediate sub-deadlines, allowing it to accommodate evolving computation graphs and asynchronous inference induced by unpredictable conditions. The framework also supports flexible deployment of MIMONet (multi-input...

论文介绍 机器人在动态环境中部署时,环境变化会重塑运行时计算,导致任务出现、优先级关系改变和负载结构演变,尤其在资源紧张和实时约束下的多任务推理性能下降。RED是一个实时调度框架,用于资源受限平台上的多任务深度神经网络工作负载,通过截止日期感知调度器适应机器人环境动态,支持演化计算图和异步推理,确保端到端时序保证。

AgentGrounder: Zero-Shot 3D Visual Pointcloud Grounding using Multimodal Language Models

第一作者: Cuong Huynh · 方向: 多模态具身 · 来源: cs.RO

Abstract:3D Visual Grounding (3DVG) is an essential capability for embodied AI, requiring agents to localize objects in 3D scenes based on natural language descriptions. Recent zero-shot methods leverage 2D vision-language models (LVLMs). However, they often rely on existing sets of multi-view images and struggle with the limited semantic and spatial details provided by standard 3D segmentation tools. We present $\textbf{AgentGrounder}$, a zero-shot 3D visual grounding framework that operates directly on colored point clouds without task-specific 3D training. Our approach follows a two-stage design: (1) an offline stage that applies 3D model to build an Object Lookup Table (OLT) with instance IDs, semantic labels, 3D bounding boxes; and (2) an online tool-driven agent that decomposes each query, retrieves only relevant candidates from the OLT, performs geometric scoring, and triggers...

论文介绍 3D视觉定位是具身AI的关键能力,要求基于自然语言描述定位3D场景中的物体。现有零样本方法依赖2D视觉语言模型,但受限于多视图图像和3D分割工具细节不足。AgentGrounder是一个零样本框架,直接处理彩色点云,无需特定3D训练,通过离线构建对象查找表和在线代理分解查询、几何评分,实现物体定位。

Passivity-based Semi-autonomous Rotational Motion Navigation for Rigid-body Networks: Stability and Human Passivity Analysis

第一作者: Reiji Terunuma · 方向: 导航与运动 · 来源: cs.RO

Abstract:This paper presents a novel passivity-based semi-autonomous attitude control framework, with a particular focus on attitude kinematics defined on the special orthogonal group $SO(3)$. While human-robot interaction facilitates the successful execution of complex tasks, ensuring stability of human-in-the-loop systems on the $SO(3)$ manifold remains a largely unsolved challenge. We first propose a new control architecture in which a multi-robot system preserves invariance of the average information fed back to the human operator through so-called stealthy control, and the human intervention is mediated through a virtual leader, which is coupled with the robots via a passivity-based attitude synchronization law. We then rigorously prove closed-loop stability of the proposed human-in-the-loop system under the assumption that the human behaves as a passive system. To support this...

论文介绍 本文提出一种基于无源的半自主姿态控制框架,专注于SO(3)上的姿态运动学。针对人机交互中SO(3)流形上系统稳定性难题,引入新控制架构:多机器人系统通过隐秘控制保持反馈信息不变性,人类干预通过虚拟领导者中介,耦合基于无源的姿态同步律。在人类行为为无源系统的假设下,严格证明闭环稳定性。

Understanding the Impact of Geometric Foundation Models on Vision-Language-Action Models

第一作者: Yurou Yang · 方向: VLA 通用模型 · 来源: cs.RO

Abstract:Recent work explores new opportunities at the intersection of vision-language-action models (VLAs) and geometric foundation models (GFMs) for 3D reconstruction, such as VGGT. While the resulting geometric VLAs often show improved performance, it remains unclear (i) if modern VLAs already have sufficient geometric understanding to start with, (ii) what is the best architecture to inject geometric understanding into a VLA, and (iii) what is the effect of other design choices that affect geometric VLAs. In this paper we provide a rigorous experimental analysis to shed light on these questions, for a specific choice of VLA (GR00T-N1.5) and GFM (VGGT). Our first contribution is to formalize prior work's intuition that current VLAs lack geometric understanding, by providing a rigorous analysis based on linear probing. The analysis quantifies, for the first time, the "geometric gap"...

论文介绍 近期研究探索视觉语言动作模型(VLA)与几何基础模型(GFM)在3D重建中的结合。本文针对特定VLA(GR00T-N1.5)和GFM(VGGT),提供严格实验分析,解答VLA是否具备足够几何理解、最佳注入架构及其他设计选择影响。通过线性探针形式化当前VLA缺乏几何理解,并首次量化「几何差距」。

WideDepth: Millimeter-Accurate Benchmark for Fisheye Depth Estimation

第一作者: Ilia Indyk · 方向: 机器人操作 · 来源: cs.RO

Abstract:Fisheye cameras are increasingly adopted in robotics for near-field manipulation, navigation, and immersive perception, yet indoor depth benchmarks with accurate ground truth are still missing. To address this, we introduce WideDepth - the first indoor dataset for fisheye depth estimation, featuring 101 scenes containing 5K high-resolution stereo pairs labeled with millimeter-level ground truth depth and disparity. Our dataset also includes paired pinhole and fisheye samples across varying fields of view and baselines in both horizontal and vertical stereo setups. We further propose a method to adapt pinhole-trained stereo models to fisheye images and introduce a novel stereo fisheye image generation pipeline based on high-resolution LiDAR scans. Leveraging these methods, we thoroughly evaluate state-of-the-art monocular depth, stereo matching, and depth completion models on...

论文介绍 鱼眼相机在机器人近场操作、导航和沉浸感知中日益普及,但缺乏精确室内深度基准。为此,引入WideDepth——首个鱼眼深度估计室内数据集,包含101场景、5K高分辨率立体对,标注毫米级深度和视差。数据集包括不同视野和基线的针孔与鱼眼样本对,并提出适配针孔训练立体模型到鱼眼图像的方法,以及基于高分辨率LiDAR扫描的立体鱼眼图像生成管线。

Beyond Predefined Learning Objects: A Thinking-Learning Interaction Model for Up-to-Date Autonomous Robot Learning

第一作者: Hong Su · 方向: 具身智能 · 来源: cs.RO

Abstract:Autonomous robots operating in open and changing environments cannot always rely on predefined inputs, outputs, and action routines. Although existing learning methods enable robots to improve their performance through environmental interaction, the objects of learning are often fixed in advance, such as input features, recognition outputs, network structures, task goals, or action sequences. This limits their ability to adapt when new features, new categories, or more efficient task routines appear during long-term operation. To address this problem, this paper proposes a thinking-learning interaction model for autonomous robots. The core idea is that thinking guides learning by identifying potential changes, selecting useful evidence, organizing training materials, and planning verification actions, while learning promotes thinking by updating task knowledge...

论文介绍 自主机器人在开放变化环境中无法总是依赖预定义输入、输出和动作例程。现有学习方法虽能通过环境交互改进性能,但学习对象常预先固定,限制了对新特征、类别或高效例程的适应。本文提出思考-学习交互模型,核心是思考指导学习识别变化、选择证据、组织材料和规划验证,学习促进思考更新任务知识,实现持续更新自适应机器人学习。

MEMOR-E: In-Context and Fine-Tuned LLM Personalization for Alzheimer's Assistive Robotics

第一作者: Maissa Abir Smaili · 方向: 具身智能 · 来源: cs.RO

Abstract:Alzheimer's disease is a neurodegenerative disorder marked by progressive declines in memory and language that reduce independence in daily life, motivating socially assistive robotic support. This paper presents MEMOR-E, a mobile quadruped robot with an interactive tablet interface that assists patients and caregivers through medication reminders, routine guidance, memory oriented interactions, and companionship. We evaluated the feasibility of fine tuning large language models (LLMs) to emulate stage consistent cognitive behavior and interpret responses across standard neuropsychological language tasks, using audio transcriptions from 235 Alzheimer's patients and synthetically generated healthy controls. We also report findings on using in context learning (ICL) in LLMs, where a second LLM produced domain and severity level cognitive error summaries. Our results show that...

论文介绍 阿尔茨海默病导致记忆和语言衰退,减少日常独立性,促使社会辅助机器人支持。MEMOR-E是一款移动四足机器人,通过交互平板界面提供药物提醒、日常指导、记忆交互和陪伴。评估微调大语言模型模拟阶段一致认知行为和解释神经心理学任务响应的可行性,使用患者音频转录和合成控制,还报告上下文学习在LLM中的应用。

Rethinking VLM Representation for VLA Initialization

第一作者: Weifeng Lin · 方向: VLA 通用模型 · 来源: cs.CV

Abstract:Vision-Language-Action (VLA) models widely adopt pretrained Vision-Language Models (VLMs) as policy backbones, yet it remains unclear what kind of pretrained VLM representation is useful as a VLA initialization. In this paper, we study VLA initialization as a controlled representation-design problem along three axes: capability-level embodied VQA supervision, parameter-update strategy, and robot-data pretraining. Our experiments show that the original pretrained VLM representation is a key source of action performance. However, embodied VQA adaptation does not yield uniform gains: its benefit depends on downstream bottlenecks, and gains from different capability domains are not simply additive. For update strategy, LoRA provides a more reliable initialization than Full Finetune, indicating that overly reshaping the pretrained representation can weaken VLA initialization...

论文介绍 视觉语言动作模型广泛采用预训练视觉语言模型作为策略骨干,但何种预训练VLM表示适合作为VLA初始化尚不明确。本文将VLA初始化作为受控表示设计问题,沿能力级具身VQA监督、参数更新策略和机器人数据预训练三轴研究。实验表明原始预训练VLM表示是动作性能关键源,但具身VQA适应增益不均匀;更新策略中,LoRA比全微调提供更可靠初始化。

QuoVLA: Quotient Space for Vision-Language-Action Models

第一作者: Xuan Wang · 方向: VLA 通用模型 · 来源: cs.CV

Abstract:Vision-Language-Action (VLA) models commonly adapt pretrained Vision-Language Models (VLMs) to robot control by mapping visual observations and language instructions to continuous actions. Existing approaches typically take an action-insufficiency view, assuming that pretrained VLM latents either lack directly usable action information or should be shielded from action-learning signals. Against this view, our \textit{Quotient Theory for VLA} shows that pretrained VLM latents are not action-insufficient but action-sufficient: they already contain the information needed for control, yet remain overcomplete by distinguishing prompt-level variations that induce the same optimal action behavior. To operationalize this theory, we propose QuoVLA, a quotient-space framework for VLA that compresses pretrained VLM latents into action-sufficient representations. Specifically, QuoVLA...

论文介绍 本文研究视觉-语言-动作(VLA)模型中预训练视觉-语言模型隐层的动作信息充分性。作者提出商空间理论,证明预训练隐层已包含控制所需信息,但过于完整。基于此,提出QuoVLA框架,通过商空间压缩隐层到动作充分表示,以改进VLA模型在机器人控制中的效率和性能。

From Theory to Decision Rule: Calibrating the Noisy-Label Crossover for Vision-Language Model Weak Supervision Across Three Medical-Imaging Benchmarks

第一作者: Bruce Changlong Xu · 方向: 多模态具身 · 来源: cs.CV

Abstract:Classical noisy-label theory predicts that downstream performance under weak supervision is bounded above by the labeler's accuracy, implying a sharp crossover: once a gold-trained classifier matches the labeler, weak labels stop helping and start hurting. The prediction is theoretical; what is missing is a benchmark calibration that turns it into an instance-level statement for modern foundation-model labelers. We provide such a calibration for BiomedCLIP-generated weak labels on three medical-imaging benchmarks (PCAM, ISIC, NIH-CXR) and six downstream architectures spanning an 11x parameter range. The crossover predicted by theory appears at ng~100 on PCAM, 20-50 on ISIC, and 250-500 on NIH-CXR; weak labels above the crossover degrade AUC by up to -0.10. The location is architecture-invariant for four of five pretrained architectures, and a within-family DenseNet sweep (2.5x...

论文介绍 本文校准噪声标签理论在弱监督学习中的交叉点,针对视觉-语言模型生成的弱标签。研究在三个医疗成像基准和六种下游架构上,使用BiomedCLIP进行校准。结果表明,弱标签在特定数据量后性能下降,为弱监督学习提供实例级指导。

ActQuant: Sub-4-bit Action-Guided Quantization for Vision-Language-Action Models

第一作者: Arash Akbari · 方向: VLA 通用模型 · 来源: cs.CV

Abstract:Vision-Language-Action (VLA) models exhibit remarkable action generation for embodied intelligence, but their heavy compute make deployment on edge platforms impractical. Aggressive, sub-4-bit weight quantization is the natural solution, yet existing post-training quantization (PTQ) methods suffer severe performance degradation in this regime. To address this, we introduce ActQuant, an action-guided mixed-precision PTQ framework that operates in two stages: (1) an inter-tensor bit allocator that assigns each weight matrix a single bit-width based on how much it contributes to predicting the agent's actions; (2) an intra-tensor scale optimizer tunes per-block quantization scales using action-aware curvature, so that dynamic range is concentrated on the weights most influential for control. To deliver the on-device benefits of our aggressive quantization, we further introduce...

论文介绍 本文提出ActQuant,一种动作引导的混合精度后训练量化框架,用于视觉-语言-动作(VLA)模型。针对VLA模型计算量大、难以在边缘设备部署的问题,ActQuant基于动作重要性分配比特宽度和优化量化尺度,实现模型高效压缩和部署。

Capability and Robustness Cannot Both Be Free: An Information-Theoretic Bound for Vision-Language-Action Models

第一作者: Jianwei Tai · 方向: VLA 通用模型 · 来源: cs.LG

Abstract:Vision-Language-Action (VLA) models are increasingly deployed on real robots, where each predicted action is executed and each failure carries a safety cost. They reach high success rates on clean inputs but collapse under small adversarial perturbations. A $16/255$ PGD attack on OpenVLA-7B drops LIBERO success from above $95\%$ to under $5\%$. Empirical defenses recover some robustness at a cost in clean accuracy, but the literature does not say whether the trade-off has a theoretical floor. We prove that it does. For any VLA policy with discrete actions, the sum of capability (mutual information between policy action and oracle action) and robustness (mutual information preserved under adversarial perturbation, net of trivial channel leakage) is upper-bounded by a policy-independent budget: task entropy plus adversarial channel capacity. The proof is two applications of the...

论文介绍 本文证明视觉-语言-动作(VLA)模型中能力(预测准确性)与鲁棒性(对抗扰动下的稳定性)之间存在理论权衡。通过信息论方法,推导出能力与鲁棒性的上界,表明两者不可兼得,为VLA模型的安全部署提供理论依据。

Beyond Killer Robots: General AI Attitudes and Public Support for Military AI in Nine Countries

第一作者: Andreas Jungherr · 方向: 具身智能 · 来源: cs.AI

Abstract:AI-enabled military systems are a fixture of modern military conflict. Applications vary from autonomous drones for surveillance and attack to AI-supported target selection. The importance of AI for modern conflict shows also in public disputes between governments and technology companies over the conditions for military access to frontier AI. Both military uses and government attempts at enabling and steering them happen before a backdrop of public opinion, yet we still know little about how people think about military AI. Drawing on a preregistered survey of 9,000 respondents in nine countries, including China, Germany, and the United States, we examine whether support for military AI is shaped primarily by general attitudes toward AI, principled opposition to lethal autonomy, or foreign-policy and geopolitical orientations. Across six military AI scenarios that vary in...

论文介绍 本文通过预注册调查,研究中国、德国和美国等九个国家公众对军事AI的支持态度。基于9000名受访者数据,分析AI一般态度、对致命自治的反对程度以及地缘政治取向如何影响对六种军事AI场景的支持。结果有助于理解公众对军事AI的复杂看法,为政策制定提供参考。

市场总览

市场技术面呈现结构性分化。美股大盘ETF(SPY, QQQ)接近52周高位,但部分科技巨头RSI进入超买区(如QQQ 71.4, AAPL 78.4),同时多只个股(NVDA, GOOGL)出现MACD死叉,显示动能分歧。加密货币板块整体疲软,BTC、ETH、SOL均呈空头排列且RSI偏弱,结合加密恐慌贪婪指数34(恐慌)及总市值小幅下跌,市场情绪谨慎。中概股板块压力显著,BABA、PDD、JD及腾讯控股普遍呈现空头排列,RSI位于40-45的偏弱区间。商品外汇方面,原油期货(CL=F)单日暴跌-4.81%,MACD死叉,而美元指数(DXY)维持多头排列和接近52周高点的强势状态。

今日关注

QQQ Nasdaq 100 ETF
偏上行

当前价格717.54,RSI(14)达71.4进入超买区,显示强劲的短期动能。价格距52周高点仅-0.63%,且维持多头排列(SMA20 694.91 < SMA50 642.1 < SMA200 614.66)。尽管MACD出现死叉,但近5日上涨1.21%,指标读数表明市场处于强势超买状态。

NVDA Nvidia
中性

当前价格215.33,近5日回调-4.43%,日线MACD死叉(6.906 < 7.7767),表明短期上涨动量减弱。RSI(14)为53.7处于中性区域,同时价格仍位于所有主要均线上方(SMA20/50/200呈多头排列),显示中期趋势支撑仍在,技术面呈现短期回调与中期趋势的平衡。

PDD 拼多多 (PDD)
偏下行

当前价格94.52,近1日跌幅-3.34%。RSI(14)为41.7,处于偏弱区域。价格接近52周低点(-32.2%),且均线呈空头排列(SMA20 97.92 > SMA50 99.63)。MACD死叉(-1.0934 < -0.9517),多项技术信号指向下行压力。

全部资产

^VIX

VIX 恐慌指数

$16.59 -0.66%
5 日
-6.90%
距 52w 高
-53.0%
RSI(14)
40.3
趋势
中性
SMA 20 / 50 / 200
17.56 / 20.57 / 18.36
MACD / 信号
-0.791 / -0.852
接近 52 周低

^TNX

10Y 美债收益率 (%)

$4.56 -0.61%
5 日
-0.81%
距 52w 高
-8.8%
RSI(14)
60.1
趋势
多头
SMA 20 / 50 / 200
4.46 / 4.37 / 4.20
MACD / 信号
0.073 / 0.062
接近 52 周低多头排列

DX-Y.NYB

美元指数 DXY

$99.11 -0.21%
5 日
+0.15%
距 52w 高
-1.5%
RSI(14)
55.0
趋势
多头
SMA 20 / 50 / 200
98.64 / 98.94 / 98.56
MACD / 信号
0.151 / 0.042
接近 52 周高多头排列

SPY

S&P 500 ETF

$745.64 +0.39%
5 日
+0.88%
距 52w 高
-0.5%
RSI(14)
68.8
趋势
多头
SMA 20 / 50 / 200
731.58 / 696.68 / 678.85
MACD / 信号
12.353 / 13.312
MACD 死叉 (4 天前)接近 52 周高多头排列

QQQ

Nasdaq 100 ETF

$717.54 +0.42%
5 日
+1.21%
距 52w 高
-0.6%
RSI(14)
71.4
趋势
多头
SMA 20 / 50 / 200
694.91 / 642.10 / 614.66
MACD / 信号
20.430 / 21.777
MACD 死叉 (3 天前)RSI 超买接近 52 周高多头排列

AAPL

Apple

$308.82 +1.26%
5 日
+2.86%
距 52w 高
-0.8%
RSI(14)
78.4
趋势
多头
SMA 20 / 50 / 200
289.35 / 270.55 / 261.55
MACD / 信号
9.971 / 8.993
RSI 超买接近 52 周高多头排列

MSFT

Microsoft

$418.57 -0.12%
5 日
-0.79%
距 52w 高
-24.6%
RSI(14)
54.4
趋势
中性
SMA 20 / 50 / 200
416.61 / 400.44 / 460.40
MACD / 信号
3.772 / 4.140

NVDA

Nvidia

$215.33 -1.90%
5 日
-4.43%
距 52w 高
-9.0%
RSI(14)
53.7
趋势
多头
SMA 20 / 50 / 200
214.75 / 196.81 / 187.03
MACD / 信号
6.906 / 7.777
MACD 死叉 (1 天前)多头排列

GOOGL

Alphabet

$382.97 -1.21%
5 日
-3.48%
距 52w 高
-6.3%
RSI(14)
57.5
趋势
多头
SMA 20 / 50 / 200
385.48 / 341.14 / 296.19
MACD / 信号
13.615 / 17.149
MACD 死叉 (4 天前)多头排列

TSLA

Tesla

$426.01 +1.95%
5 日
+0.89%
距 52w 高
-14.6%
RSI(14)
58.3
趋势
中性
SMA 20 / 50 / 200
409.26 / 388.33 / 410.03
MACD / 信号
10.171 / 10.819
MACD 死叉 (2 天前)

META

Meta

$610.26 +0.47%
5 日
-0.65%
距 52w 高
-23.4%
RSI(14)
45.3
趋势
空头
SMA 20 / 50 / 200
619.10 / 617.81 / 669.43
MACD / 信号
-7.099 / -6.071
空头排列
加密恐慌贪婪
34
恐慌
加密总市值
$2.64 T
-0.59% / 24h
BTC 主导率
58.2%
ETH 9.6%
24h 成交量
$66.8 B
活跃币 17,396

BTC-USD

Bitcoin

$76,815.63 -0.21%
5 日
-0.83%
距 52w 高
-39.1%
RSI(14)
46.2
趋势
空头
SMA 20 / 50 / 200
78,812.43 / 76,928.19 / 80,403.36
MACD / 信号
-236.161 / 225.355
空头排列

ETH-USD

Ethereum

$2,098.60 +0.03%
5 日
-1.33%
距 52w 高
-57.6%
RSI(14)
37.4
趋势
空头
SMA 20 / 50 / 200
2,210.10 / 2,263.81 / 2,540.74
MACD / 信号
-52.687 / -39.312
空头排列

SOL-USD

Solana

$84.50 -0.88%
5 日
-1.79%
距 52w 高
-66.6%
RSI(14)
43.7
趋势
空头
SMA 20 / 50 / 200
88.86 / 86.49 / 106.77
MACD / 信号
-0.663 / -0.021
空头排列

BABA

阿里巴巴 (BABA)

$130.00 -1.12%
5 日
-1.95%
距 52w 高
-32.5%
RSI(14)
44.1
趋势
空头
SMA 20 / 50 / 200
135.08 / 131.77 / 149.50
MACD / 信号
-0.084 / 0.803
MACD 死叉 (4 天前)空头排列

PDD

拼多多 (PDD)

$94.52 -3.34%
5 日
-1.37%
距 52w 高
-32.2%
RSI(14)
41.7
趋势
空头
SMA 20 / 50 / 200
97.92 / 99.63 / 113.77
MACD / 信号
-1.093 / -0.952
MACD 死叉 (今天)接近 52 周低空头排列

JD

京东 (JD)

$30.52 -3.02%
5 日
-4.65%
距 52w 高
-17.2%
RSI(14)
47.7
趋势
中性
SMA 20 / 50 / 200
30.96 / 29.95 / 30.49
MACD / 信号
0.536 / 0.612
MACD 死叉 (今天)

0700.HK

腾讯控股 (0700.HK)

HK$436.80 -1.04%
5 日
-2.76%
距 52w 高
-36.0%
RSI(14)
33.2
趋势
空头
SMA 20 / 50 / 200
461.94 / 491.76 / 576.41
MACD / 信号
-14.564 / -13.242
接近 52 周低空头排列

GC=F

黄金期货

$4,528.20 +0.16%
5 日
-0.53%
距 52w 高
-18.9%
RSI(14)
40.7
趋势
中性
SMA 20 / 50 / 200
4,603.28 / 4,658.38 / 4,354.16
MACD / 信号
-48.651 / -39.532

CL=F

WTI 原油期货

$91.95 -4.81%
5 日
-15.38%
距 52w 高
-23.0%
RSI(14)
42.2
趋势
中性
SMA 20 / 50 / 200
100.76 / 98.25 / 71.66
MACD / 信号
0.357 / 1.524
MACD 死叉 (2 天前)

USDCNY=X

美元 / 人民币

¥6.79 -0.13%
5 日
-0.21%
距 52w 高
-5.9%
RSI(14)
37.1
趋势
空头
SMA 20 / 50 / 200
6.81 / 6.84 / 6.99
MACD / 信号
-0.012 / -0.013
接近 52 周低空头排列
风险提示

以上内容仅基于公开行情数据计算的技术指标进行客观解读,反映历史价格走势的形态。过去走势不代表未来表现,所有技术状态描述均不构成任何投资建议,仅供技术指标解读参考。

US launches new strikes on Iran, targeting missile sites and boats

US Central Command says the strikes were taken in "self-defense". It comes as senior Iranian negotiators arrive in Qatar for talks to end the war.

中文摘要 美军中央司令部宣布对伊朗发动新打击,目标包括导弹基地和船只,称出于自卫;同时伊朗高级谈判代表抵达卡塔尔,参与旨在结束战争的谈判。

Australia politics live: Taylor pushes Albanese on small business CGT carve-out as two Coalition MPs ejected from question time

Opposition leader asks PM to declare which small businesses will receive a carve out from ‘broken promises and higher taxes’. Follow today’s news live Get our breaking news email, free app or daily news podcast ‘This is very good value for money for Australia’: Bowen defends COP role Chris Bowen, wh

中文摘要 澳大利亚政治中,反对党领袖Taylor推动总理Albanese就小企业资本利得税豁免问题表态,质询时间中两名联盟党议员被驱逐。

中國打擊非法跨境股票交易 股民競相拋售離場

自2022年對非法跨境交易展開整治,中國政府近期實施迄今為止最嚴厲的行動,三家未獲核准的券商挨罰超過22億元人民幣。此舉衝擊了這類「灰色地帶」交易;據彭博報導,許多中國股民急忙拋售海外股票,或尋求其他投資方式。

中文摘要 中国政府近期实施严厉行动打击非法跨境股票交易,三家未核准券商被罚超22亿元人民币,导致中国股民抛售海外股票,寻求其他投资方式。

Middle East crisis live: US attacks Iran missile sites as Tehran negotiators hold talks in Qatar

US Central Command claims targets also included boats trying to lay mines, rattling ceasefire, while Iranians meet with Qatari prime minister in Doha Israel escalates strikes in Lebanon as Netanyahu vows to ‘crush’ Hezbollah At the beginning of the war Israel’s security elite warned that Benjamin Ne

中文摘要 美国攻击伊朗导弹基地,目标包括布雷艇,影响停火;同时伊朗谈判代表在卡塔尔与卡塔尔首相会面,讨论和平方案。

BHP ‘laughing’ at Australia’s key climate policy while pocketing hundreds of millions in tax breaks, Pocock says

Outrage as leaked documents reveal mining giant’s backsliding on commitments to slash emissions Adam Morton: Big Mining gets a $4bn tax break to use fossil fuel. It’s a strange way to tackle emissions Read more from the BHP files investigation here Get our breaking news email, free app or daily news

中文摘要 矿业公司BHP被指嘲笑澳大利亚气候政策,同时获得数亿美元税收减免;泄露文件显示其排放承诺倒退,引发争议。

Two men arrested in connection to Dezi Freeman’s movements after Porepunkah shootings

A 48-year-old and 35-year-old will be interviewed by police after their arrests at two separate locations in north-east Victoria Follow our Australia news live blog for latest updates Get our breaking news email, free app or daily news podcast Two men have been arrested in connection to Porepunkah s

中文摘要 两名男子因与Porepunkah枪击案后Dezi Freeman的行踪有关被捕,年龄分别为48岁和35岁,将在维多利亚州东北部接受警方讯问。

As Delegations Gather in Qatar For Talks, U.S. Strikes Iran’s Gulf Coast

Iranian officials went to Doha on Monday for the negotiations, hours before the U.S. military announced the strikes it said were intended to protect troops. Israel’s leader said his country plans to intensify attacks against Hezbollah, Iran’s ally, in Lebanon.

中文摘要 美国在谈判期间打击伊朗海湾海岸,声称保护部队;以色列领导人表示计划加强对黎巴嫩真主党的攻击。

Tehran expresses ‘resolute support’ for Hezbollah – as it happened

This blog is now closed – our live coverage continues here Ebrahim Rezaei, the spokesperson of the Iranian parliament’s national security and foreign policy commission, has said that time is working against the US and warned that Iran does not respond well to threats. In a post on X, he wrote: Durin

中文摘要 伊朗对真主党表示“坚决支持”,伊朗官员警告美国时间对其不利,并威胁伊朗不善待威胁。

Are We Pandemic Ready?

Hantavirus and Ebola are reminders that outbreaks are inevitable, and that the world must work together to contain them and prevent the next pandemic.

中文摘要 汉坦病毒和埃博拉疫情提醒世界,爆发不可避免,全球需合作遏制疫情,为下一次大流行做准备。

Iceland, Rattled by Trump’s Greenland Threats, Weighs Joining the E.U.

Iceland has stood apart from the rest of Europe. But President Trump’s threats to Greenland have provoked a reconsideration.

中文摘要 冰岛因美国总统特朗普对格陵兰的威胁而重新考虑,可能加入欧盟,打破其与欧洲其他地区的隔绝状态。

Inside India’s Manipur State, Where Violence and Division Are Routine

Three years after riots tore apart Manipur, the state remains in disarray. Barbed wire and armed checkpoints made it difficult for Times reporters to cross, even before the recent clashes.

中文摘要 印度曼尼普尔邦三年骚乱后仍混乱,暴力与分裂持续,武装检查站阻碍通行,加剧冲突。

US strikes Iran missile sites and mine laying vessels as Trump’s promised peace deal remains elusive

Negotiators from Iran travelled to Qatar on Monday, with the fate of the country’s nuclear programme and access to frozen assets under discussion Middle East crisis – live updates The US has launched strikes on southern Iran in a test of the seven-week long ceasefire, as both sides played down hopes

中文摘要 美国打击伊朗导弹基地和布雷艇,特朗普承诺的和平协议未实现;伊朗谈判代表在卡塔尔讨论核计划和冻结资产。

ECB Should Hike Interest Rates in June, Schnabel Tells Reuters

The European Central Bank must raise interest rates next month even if there’s a quick resolution to the conflict in the Middle East, Executive Board member Isabel Schnabel told Reuters.

中文摘要 欧洲央行执行董事会成员伊莎贝尔·施纳贝尔告诉路透社,即使中东冲突迅速解决,欧洲央行也必须在下个月加息,强调利率上调的必要性。

Samsung’s Non-Chip Staff Seek Court Order to Block Wage Vote

A Samsung Electronics Co. union representing workers outside the ultra-profitable semiconductor division asked a Korean court to block voting on a tentative deal that would distribute about 40 trillion won ($26.6 billion) in bonuses to chip employees.

中文摘要 三星电子非芯片部门工会寻求韩国法院阻止一项临时协议的投票,该协议计划向芯片员工发放约40万亿韩元(266亿美元)奖金,引发内部争议。

'An £8,000 debt pushed me to breaking point'

A Bradford man who has struggled with debt urges others to reach out for help.

中文摘要 一名布拉德福德男子因8000英镑债务陷入困境,公开呼吁其他有类似问题的人及时寻求帮助,分享个人经历以警示他人。

Sasol’s Blistering Rally Meets Growing Skepticism From Analysts

After a rally that’s seen Sasol Ltd.’s stock price double this year, analysts are becoming wary of the South African oil and chemicals company.

中文摘要 南非石油和化工公司萨索尔股价今年翻倍后,分析师对其增长可持续性持谨慎态度,担忧估值过高和市场风险。

Pressure Builds for Albanese Over Housing Tax Overhaul

Australian Prime Minister Anthony Albanese is facing mounting public and political pressure following last week’s federal budget, which included proposed changes to negative gearing and the capital gains tax (CGT) discount. Policy Institute of Australia CEO Amy Auster warns the tax changes could fai

中文摘要 澳大利亚总理安东尼·阿尔巴尼斯因上周联邦预算中提议的住房税改革,包括负扣税和资本利得税折扣调整,面临公众和政治压力。

Bank holiday sun boosts South West tourism

Business owners in Devon and Cornwall describe how "the sun just brings everybody out".

中文摘要 英国银行假日阳光明媚,促使德文郡和康沃尔郡旅游业繁荣,当地企业主表示阳光吸引了大量游客,提升了业务收入。

Aulis Capital's Leung on Healthcare Investments

Nisa Leung, Founding Managing Partner at Aulis Capital, discusses the investment opportunities in the healthcare sector. She speaks with Haslinda Amin from the sidelines of the JPMorgan Global China Summit in Shanghai. (Source: Bloomberg)

中文摘要 Aulis Capital 创始管理合伙人 Nisa Leung 在上海摩根大通全球中国峰会期间讨论医疗保健行业的投资机会,分析市场趋势和增长潜力。

Strikes Near Strait Muddy Outlook for Iran Deal

Oil rebounded as fresh US military strikes in Iran clouded the outlook for an interim deal between Tehran and Washington to reopen the Strait of Hormuz, with the talks set to continue for several more days. Bloomberg's Garfield Reynolds has the latest. (Source: Bloomberg)

中文摘要 美国对伊朗的新军事打击使伊朗与美国重新开放霍尔木兹海峡的临时协议前景蒙上阴影,导致油价反弹,谈判预计持续数日。

RedNote-Backer GSR Seeks to Raise $350 Million New Fund

GSR Ventures Management Co., an early investor in Chinese social media app RedNote, is seeking investors for a new fund, according to people familiar with the matter.

中文摘要 中国社交媒体应用 RedNote 的早期投资者 GSR Ventures 正在寻求募集3.5亿美元的新基金,以支持科技领域投资。

FirstFT: US strikes Iranian missile sites

Also in today’s newsletter: shrinking real wages and bank deregulation

中文摘要 美国打击伊朗导弹基地,今日新闻还包括实际工资缩水和银行去监管等内容,聚焦地缘政治和经济议题。

Oil Climbs as US Strikes Iran Targets | The Asia Trade 5/26/2026

"Bloomberg: The Asia Trade" brings you everything you need to know to get ahead as the trading day begins in Asia. Bloomberg TV is live from Tokyo and Sydney with Shery Ahn and Haidi Stroud-Watts, getting insight and analysis from newsmakers and industry leaders on the biggest stories shaping global

中文摘要 美国打击伊朗目标导致油价上涨,Bloomberg 亚洲交易节目从东京和悉尼直播,提供交易日开始时的市场分析和新闻洞察。

The Pope Speaks Up for Humans, not Humanoids

The forces driving the threat of robot overlords get a morality check.

中文摘要 教皇呼吁关注人类而非仿生人,对人工智能和机器人技术带来的威胁进行道德审视,强调人类价值观的优先性。

宁可睡地板也要当老板:全职独立开发摸索期记录贴

1. 先介绍一下我的个人情况 我是本硕先学计算机后生物信息,毕业后在一家生信公司干线上产品的后端开发,刚入职前半年对工作非常有干劲,天天最后走,自己帮公司做AI产品(就是 RAG 产品),到了年底把产品上线使用了,然后我就去和总监谈薪资,说工资太低了租不起附近的房子,他反过来对我说当年毕业他也是这样。我心想你他妈毕业是多少年前的事了(他14年是8k吧好像)。 第二年的 3、4 月份是公司涨薪的日子,我提前找到他们要求给我涨薪,一顿操作下来说我基数太低,只能涨 800。。。骗傻子跟我说是 HR 意思,后面根据其它事情我发现明明就是不愿给争取。从这开始心态就变了,到点就下班,活只干分来的,剩下的时

【开源推广】Gemini Nexus:将 Gemini Web 接入浏览器插件,支持视频总结、生图修图、划词操作、浏览器控制、网页总结、OCR。。。

本帖使用社区开源推广,符合推广要求。我申明并遵循社区要求的以下内容: 我的帖子已经打上 开源推广 标签: 是 我的开源项目完整开源,无未开源部分: 是 我的开源项目已链接认可 LINUX DO 社区: 是 我帖子内的项目介绍,AI生成、润色内容部分已截图发出: 是 以上选择我承诺是永久有效的,接受社区和佬友监督: 是 以下为项目介绍正文内容,AI生成、润色内容已使用截图方式发出 项目地址: GitHub - yeahhe365/Gemini-Nexus: Gemini Nexus 是一款面向浏览器场景的 AI 助手扩展,集成 Gemini Web、Gemini API 与 OpenAI 兼容接

一次拔两颗智齿,人要没了,坐在工位怀疑人生

大早上去拔了右侧两颗智齿,现在坐在工位上怀疑人生,我是谁我在哪我要干什么 狠佬记录: 一次拔两颗智齿,人要没了,坐在工位怀疑人生 搞七捻三 一次拔两颗智齿,人要没了,坐在工位怀疑人生 搞七捻三 一次拔两颗智齿,人要没了,坐在工位怀疑人生 搞七捻三 。 一次拔两颗智齿,人要没了,坐在工位怀疑人生 搞七捻三 一次拔两颗智齿,人要没了,坐在工位怀疑人生 搞七捻三 一次拔两颗智齿,人要没了,坐在工位怀疑人生 搞七捻三 一次拔两颗智齿,人要没了,坐在工位怀疑人生 搞七捻三 一次拔两颗智齿,人要没了,坐在工位怀疑人生 搞七捻三 一次拔两颗智齿,人要没了,坐在工位怀疑人生 搞七捻三 155 个帖子 - 10

我的开源项目,拉到了第一笔赞助

本帖使用社区开源推广,符合推广要求。我申明并遵循社区要求的以下内容: 我的帖子已经打上 开源推广 标签: 是 / 是 我的开源项目完整开源,无未开源部分: 是 / 是 我的开源项目已链接认可 LINUX DO 社区: 是 / 是 我帖子内的项目介绍,AI生成、润色内容部分已截图发出: 是 / 是 以上选择我承诺是永久有效的,接受社区和佬友监督: 是 / 是 以下为项目介绍正文内容,AI生成、润色内容已使用截图方式发出 记录一个小事。 我的开源项目 agent-notify 拿到了第一笔赞助(合作形式)。 项目是做什么的 一个给 AI Agent 用的通知工具。 可以把Claude Code、C

月嫂上户7天后,宝宝住进ICU,我应该报警吗?

坐标成都,上个月刚带了娃娃。 事情经过(基本都有监控记录): 找了成都某老牌月嫂公司,请了一位据说通过各项认证、培训的月嫂。 月嫂来家里7天,宝宝去了两次医院。 于是她就用冷水整娃娃眼睛,然后抱怀里各种揉宝宝,不让宝宝睡,宝宝扭来扭去的抗拒,最终还是被灌进去40毫升,宝宝当场就在怀里吐奶了。。 没想到她非但不采取紧急措施,还立刻抱起娃儿逃离监控(而且竖抱会增加奶液进入肺部风险),一瞬间把宝宝吐的奶给擦了。 现在的情况 月嫂当场把我们删了,她及其公司现在一句道歉都没有,也不承认月嫂这些行为有过错; 我们要求月嫂公司对此赔偿,但月嫂公司疯狂耍心机。首先不承认自己有问题,说公司买了保险的,有问题报保